extrinsic
-0.460981 0.0229214 -0.887114 0.469606 
0.0361836 0.999321 0.00701809 -0.0197421 
0.886672 -0.0288638 -0.461497 1.782 
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 

0.727628 1.687628
