extrinsic
-0.644971 0.0230336 0.76386 -0.187606 
0.00975194 0.999712 -0.0219114 0.0474292 
-0.764145 -0.00668313 -0.64501 2.48107 
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 

0.727567 1.687567
