extrinsic
-0.515561 0.0237774 -0.856523 0.174668 
0.0464022 0.998923 -0.000200081 0.00927553 
0.855596 -0.0398477 -0.516109 1.85723 
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 

0.758045 1.718045
