extrinsic
-0.577511 0.0419419 -0.815305 -0.12677
0.102833 -0.986988 -0.123614 -0.14008
-0.80988 -0.155229 0.565684 0.832447
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.518159 0.0150203 790 12.3842
