extrinsic
-0.329952 0.00636996 -0.943976 -1.08255 
-0.0152285 0.999811 0.0120696 -0.060602 
0.943875 0.0183577 -0.329792 2.21732 
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 

0.699374 1.659374
