extrinsic
0.993379 -0.0880761 -0.0737675 0.162618
-0.0658451 -0.962637 0.262667 -0.285819
-0.094146 -0.256071 -0.962063 1.12142
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.494115 0.017093 796 14.1002
