extrinsic
-0.335925 0.00657963 -0.941866 1.26989 
0.0160754 0.99987 0.00125142 -0.0459441 
0.941752 -0.0147204 -0.335987 1.47062 
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 

0.720271 1.680271
