extrinsic
-0.476147 0.0217352 0.879097 -0.50463 
-0.0558521 0.996929 -0.0548998 0.103066 
-0.87759 -0.0752398 -0.473471 2.06073 
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 

0.754468 1.714468
