extrinsic
-0.681195 0.0125315 0.731995 0.376047 
-0.0243783 0.998911 -0.0397876 0.0340605 
-0.731696 -0.0449479 -0.680147 1.93511 
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 

0.700843 1.660843
