extrinsic
-0.651585 0.021604 0.758268 0.241313 
-0.0120742 0.999172 -0.0388432 0.0189954 
-0.75848 -0.0344651 -0.650785 2.05553 
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 

0.723408 1.683408
