extrinsic
-0.551142 0.0776132 -0.830794 0.375871
0.0741703 -0.987166 -0.141426 -0.117068
-0.831109 -0.139566 0.538312 0.860412
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.535828 0.0152642 790 12.5945
