extrinsic
-0.159203 0.00686895 0.987222 -0.46407 
-0.0429124 0.998983 -0.013871 0.0530441 
-0.986313 -0.0445724 -0.158746 1.70027 
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 

0.709209 1.669209
