extrinsic
0.982601 -0.0652375 0.173895 -0.633019
-0.108516 -0.961502 0.252464 -0.283339
0.15073 -0.266941 -0.951852 1.08727
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.280551 0.0168917 808 13.929
