extrinsic
-0.1612 0.0421476 0.986021 -0.165012 
0.127183 0.991644 -0.0215954 -0.163316 
-0.978693 0.121924 -0.165213 0.94948 
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 

0.433386 1.393386
