extrinsic
-0.223844 0.0515243 0.973262 0.00478383 
0.129719 0.991292 -0.0226443 -0.160709 
-0.965954 0.121182 -0.228579 0.848651 
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 

0.525192 1.485192
