extrinsic
-0.46897 0.0192556 -0.883004 -0.586696 
0.0426956 0.999088 -0.000888916 0.0301911 
0.882181 -0.0381172 -0.469365 2.03529 
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 

0.798699 1.758699
