extrinsic
-0.81898 0.0248726 -0.573283 -0.789999 
0.0449272 0.998773 -0.0208489 -0.00258696 
0.572061 -0.0428308 -0.819092 0.730615 
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 

0.508097 1.468097
