extrinsic
0.999689 -0.00845804 0.0234725 -0.00960842
-0.015293 -0.951062 0.308622 -0.470787
0.0197134 -0.308885 -0.950895 1.36679
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.493037 0.013603 789 11.2258
