extrinsic
0.992438 -0.103795 -0.0655204 0.0372883
-0.081256 -0.95564 0.283106 -0.338905
-0.0919989 -0.275641 -0.956848 1.19214
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.460403 0.0167207 797 13.7868
