extrinsic
0.994483 0.0999262 0.0319058 0.0772554
0.0925348 -0.978971 0.181804 -0.20576
0.0494018 -0.177848 -0.982817 1.34678
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.602901 0.017766 791 14.6558
