extrinsic
-0.854283 0.0165154 -0.519546 0.436676 
0.0346194 0.999084 -0.0251652 0.0294496 
0.518655 -0.0394846 -0.854072 1.65959 
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 

0.728971 1.688971
