extrinsic
0.996946 -0.0753039 -0.020707 -0.39503
-0.0674904 -0.964111 0.256778 -0.30121
-0.0393003 -0.254596 -0.966248 1.181
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.300201 0.0163372 807 13.4843
