extrinsic
0.286462 -0.121776 -0.950321 -0.374022
0.190915 -0.964742 0.181173 -0.0950728
-0.938878 -0.23333 -0.253113 0.598931
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.325307 0.00905463 789 7.46941
