extrinsic
-0.552482 0.00682321 -0.833497 0.948381 
0.0153357 0.99988 -0.00197994 -0.0586875 
0.833384 -0.0138761 -0.552521 1.663 
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 

0.697409 1.657409
