extrinsic
0.944308 -0.0432556 0.326206 -0.781024
-0.128895 -0.960729 0.245735 -0.281057
0.302766 -0.274096 -0.9128 1.05516
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.333079 0.0157537 804 12.999
