extrinsic
-0.208484 0.0506198 0.976715 0.556567 
-0.0978577 0.992569 -0.0723296 0.0520647 
-0.973118 -0.110659 -0.201981 1.14946 
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 

0.779685 1.739685
