extrinsic
-0.98965 -0.0070492 -0.143328 0.176033 
0.00513947 0.996411 -0.0844926 0.14885 
0.143409 -0.0843547 -0.986062 2.13118 
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 

0.851569 1.811569
