extrinsic
0.948454 0.00324194 0.316898 0.102204
-0.0730809 -0.97076 0.228657 -0.258749
0.308373 -0.24003 -0.920484 1.14385
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.555001 0.0159658 790 13.168
