extrinsic
-0.994936 -0.0413034 -0.0916306 -0.703415
0.0608585 -0.973106 -0.222172 -0.351042
-0.0799898 -0.226624 0.970692 1.85458
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.916754 0.0145303 762 11.9888
