extrinsic
-0.169074 0.00144105 -0.985602 -0.859235 
-0.0254681 0.999659 0.00583052 -0.0971822 
0.985274 0.0260872 -0.16898 2.37043 
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 

0.731266 1.691266
