extrinsic
0.166336 0.0512501 0.984736 0.351079
-0.245642 -0.965012 0.091716 -0.321875
0.954983 -0.257148 -0.147927 1.40124
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.484603 0.0133222 789 10.9958
