extrinsic
-0.183268 0.0377979 -0.982336 -0.287461
0.13668 -0.988576 -0.0635375 -0.0343143
-0.973515 -0.14591 0.176008 0.697752
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.383064 0.0141303 798 11.659
