extrinsic
0.688488 -0.0261613 0.724776 -0.403969 
-0.0394825 0.996515 0.0734756 0.0655343 
-0.724173 -0.079203 0.685056 1.21385 
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 

0.827954 1.787954
