extrinsic
0.927453 0.0651719 0.368218 -0.0450857
-0.0164948 -0.976607 0.214399 -0.271546
0.373577 -0.204918 -0.904682 1.15428
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.560623 0.015855 790 13.0861
