extrinsic
-0.620781 0.0827896 -0.7796 0.729939
0.0642365 -0.985694 -0.155826 -0.0606975
-0.781348 -0.146813 0.606582 0.635684
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.383569 0.0152165 800 12.5567
