extrinsic
-0.637327 0.0744739 -0.766986 0.55133
0.0684613 -0.985911 -0.152619 -0.0990955
-0.767546 -0.149777 0.623249 0.735343
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.486975 0.0152076 793 12.5466
