extrinsic
-0.510014 0.0175419 -0.859987 -1.17781 
-0.00288401 0.999752 0.0221031 -0.0295734 
0.860161 0.0137531 -0.509837 2.01001 
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 

0.699403 1.659403
