extrinsic
-0.595076 0.0259471 -0.80325 -0.36193 
0.054363 0.998489 -0.00802018 0.0414114 
0.801829 -0.0484397 -0.595588 1.91834 
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 

0.770140 1.730140
