extrinsic
-0.537053 0.0218845 -0.843265 -1.07865 
0.000407698 0.99967 0.0256838 -0.0372489 
0.843549 0.0134498 -0.536885 1.96989 
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 

0.694009 1.654009
