extrinsic
0.995751 0.0849982 -0.0354357 0.259907
0.0895214 -0.983685 0.156043 -0.170982
-0.0215942 -0.158552 -0.987114 1.39409
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.629701 0.0179991 790 14.849
