extrinsic
0.932357 -0.0706022 0.354578 -0.794684
-0.162168 -0.958219 0.235621 -0.240943
0.323128 -0.277184 -0.904852 0.983773
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.284269 0.0158267 807 13.0564
