extrinsic
-0.99597 -0.0686398 0.0577261 -0.244299
0.0498886 -0.958874 -0.279413 -0.404442
0.074531 -0.275407 0.958434 1.32819
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.426194 0.0137288 794 11.3269
