extrinsic
-0.551798 0.0216065 -0.833698 -0.427849 
0.0465746 0.998903 -0.00493821 0.0296139 
0.832676 -0.041554 -0.552199 1.94674 
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 

0.770894 1.730894
