extrinsic
-0.628905 0.0184074 0.777264 -0.293685 
0.0111872 0.99983 -0.0146264 0.030414 
-0.777401 -0.000503185 -0.629005 2.6083 
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 

0.784059 1.744059
