extrinsic
-0.992744 -0.047359 -0.110528 -0.592381
0.0712543 -0.972103 -0.223468 -0.348302
-0.096861 -0.229723 0.968424 1.91023
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.976042 0.0144251 757 11.8959
