extrinsic
0.0544602 0.0331479 -0.997966 -0.339147
0.150837 -0.988253 -0.024594 -0.043236
-0.987057 -0.14919 -0.0588204 0.652495
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.352363 0.00997783 790 8.23485
