extrinsic
-0.823196 0.0173561 -0.567492 0.438277 
0.0395771 0.998855 -0.0268612 0.0342512 
0.566377 -0.0445717 -0.82294 1.58347 
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 

0.723358 1.683358
