extrinsic
-0.98276 -0.0144249 -0.184321 0.365906 
-0.0108452 0.999733 -0.0204143 0.0573453 
0.184566 -0.0180634 -0.982654 2.11878 
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 

0.822586 1.782586
