extrinsic
-0.654601 0.0808207 -0.751642 0.661737
0.0612961 -0.985321 -0.15933 -0.0725026
-0.753486 -0.15037 0.640038 0.658866
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.432092 0.0151182 796 12.4662
