extrinsic
-0.985835 -0.0148471 -0.167061 0.309845 
-0.00167325 0.996895 -0.0787227 0.175727 
0.167711 -0.0773281 -0.982799 2.12646 
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 

0.880526 1.840526
