extrinsic
-0.995785 -0.0915313 -0.0058559 -0.451914
0.088481 -0.941863 -0.324136 -0.433897
0.0241532 -0.323288 0.945992 1.25664
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.404631 0.0121873 792 10.057
