extrinsic
0.211956 0.0232166 -0.977003 -0.32581
0.184297 -0.98273 0.0166297 -0.0662106
-0.959744 -0.183584 -0.212575 0.594618
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.315172 0.00935876 791 7.71795
