extrinsic
0.994357 -0.0717216 -0.0781715 0.272743
-0.050213 -0.967268 0.24874 -0.25857
-0.0934528 -0.243411 -0.965411 1.04133
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.41924 0.0171657 800 14.1518
