extrinsic
-0.229281 0.0545364 0.971831 0.0162579
-0.26498 -0.964217 -0.00840654 -0.377885
0.936598 -0.259443 0.235527 1.51279
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.443972 0.0129172 791 10.6615
