extrinsic
0.98354 0.105319 0.146822 -0.0939729
0.0727843 -0.974649 0.211569 -0.249083
0.165382 -0.1974 -0.966272 1.25163
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.541005 0.0169932 793 14.0166
