extrinsic
-0.88525 0.0133213 -0.464925 0.452283 
0.0284358 0.99927 -0.0255121 0.0268171 
0.464246 -0.0358051 -0.884982 1.76061 
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 

0.774476 1.734476
