extrinsic
0.995678 -0.000558536 0.092869 -0.983172 
0.00839386 0.99643 -0.0840004 -0.0738319 
-0.0924906 0.0844169 0.992129 0.751271 
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 

0.800862 1.760862
