extrinsic
0.939988 0.00130655 -0.341204 -0.106788
0.0828888 -0.970911 0.224634 -0.36538
-0.330985 -0.239435 -0.912754 1.54041
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.550391 0.0153185 789 12.6367
