extrinsic
-0.0372913 0.0412405 0.998453 0.533968 
-0.0996114 0.994018 -0.0447777 0.0385705 
-0.994327 -0.101127 -0.0329602 1.12267 
0.0 0.0 0.0 1.0 

intrinsic
1161.49 0.0 961.743 
0.0 1161.49 543.535 
0.0 0.0 1.0 

0.757962 1.717962
