extrinsic
-0.242193 0.0397663 0.969413 0.709954 
-0.0956832 0.99331 -0.0646515 0.0405177 
-0.965499 -0.108415 -0.236768 1.06277 
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 

0.779209 1.739209
