extrinsic
-0.633162 0.0247787 0.773623 -0.101331 
0.00317049 0.999562 -0.0294205 0.0645858 
-0.774013 -0.0161752 -0.632963 2.38489 
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 

0.728010 1.688010
