extrinsic
-0.185346 0.029285 0.982237 -0.00736991 
-0.017375 0.999302 -0.0330724 0.0223584 
-0.98252 -0.0231962 -0.184708 1.93659 
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 

0.932776 1.892776
