extrinsic
0.715697 0.00754201 0.69837 -0.0421128
-0.139806 -0.978155 0.153838 -0.39816
0.684275 -0.207738 -0.699009 1.9358
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

1.01996 0.0143123 754 11.8114
