extrinsic
-0.925983 0.00999013 -0.377432 0.347843 
0.0257829 0.99899 -0.0368132 0.0389998 
0.376683 -0.0438197 -0.925305 1.90223 
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 

0.772666 1.732666
