extrinsic
-0.492264 0.0187923 -0.870243 -0.463412 
0.0417058 0.999128 -0.00201587 0.026258 
0.869446 -0.0372865 -0.492618 1.99518 
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 

0.778565 1.738565
