extrinsic
-0.402447 0.0419074 -0.914484 -0.194423
0.119236 -0.988042 -0.097752 -0.0699572
-0.907645 -0.14838 0.392637 0.778169
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.458671 0.0150485 794 12.4072
