extrinsic
0.696891 0.000160332 -0.717177 0.0712998
0.158402 -0.975338 0.153704 -0.466936
-0.699466 -0.220717 -0.679729 1.61971
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.648801 0.01043 763 8.60687
