extrinsic
-0.492171 0.021246 -0.870239 -0.815372 
0.0192681 0.999723 0.0135099 -0.00145377 
0.870285 -0.0101186 -0.492444 2.0153 
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 

0.703884 1.663884
