extrinsic
-0.405456 0.0203025 -0.913889 0.758246 
0.0252339 0.999621 0.0110118 -0.0430047 
0.913766 -0.0185962 -0.405815 1.72043 
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 

0.729975 1.689975
