extrinsic
-0.348186 0.0177066 -0.937258 1.02534 
0.0215501 0.999709 0.0108807 -0.0547154 
0.937178 -0.0164095 -0.348466 1.62457 
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 

0.765528 1.725528
