extrinsic
-0.361327 0.034501 0.931801 -0.0626996
-0.266185 -0.961547 -0.0676169 -0.407737
0.893638 -0.272463 0.356617 1.52878
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.446892 0.012763 790 10.5296
