extrinsic
-0.561754 0.025321 -0.826917 -0.104408 
0.0520303 0.998634 -0.00476694 0.0346793 
0.825666 -0.0457026 -0.562304 1.90673 
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 

0.781924 1.741924
