extrinsic
0.0394983 0.0254452 0.998896 -0.743392 
-0.0141958 0.999589 -0.0249015 -0.0253877 
-0.999119 -0.0131965 0.0398433 1.14192 
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 

0.386885 1.346885
