extrinsic
0.0243041 -0.00138989 -0.999704 -0.535322 
-0.0349643 0.999386 -0.00223948 -0.133795 
0.999093 0.0350084 0.0242406 2.46075 
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 

0.724469 1.684469
