extrinsic
-0.264019 0.0913974 -0.960177 0.605479
0.0859235 -0.989313 -0.117797 -0.108899
-0.960683 -0.113602 0.253344 0.98172
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.408281 0.0147373 797 12.1539
