extrinsic
0.980146 -0.0346099 0.195235 -0.305573
-0.0849719 -0.962967 0.25588 -0.368462
0.179148 -0.267389 -0.946789 1.32749
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.504745 0.0147187 791 12.1473
