extrinsic
-0.735996 0.012507 -0.67687 0.552672 
0.0255678 0.99963 -0.00933036 -0.0385174 
0.676503 -0.0241732 -0.736043 1.73377 
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 

0.744441 1.704441
