extrinsic
-0.849306 0.0186446 -0.527572 0.290971 
0.0428573 0.998512 -0.0337054 0.0413377 
0.526159 -0.0512365 -0.848841 1.58186 
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 

0.703699 1.663699
