extrinsic
0.0643863 0.00802663 0.997893 -0.727914 
-0.0459604 0.99893 -0.00506951 0.0811875 
-0.996866 -0.0455371 0.0646864 1.65652 
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 

0.841213 1.801213
