extrinsic
-0.991836 -0.0524575 0.116229 -0.0506602
0.0273799 -0.977816 -0.20767 -0.310244
0.124545 -0.202792 0.971269 1.3154
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.474957 0.0152791 794 12.6065
