extrinsic
-0.236795 0.0363906 0.970878 0.207066 
-0.0731822 0.995791 -0.0551734 0.0971866 
-0.968799 -0.0841158 -0.233136 1.58803 
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 

0.871278 1.831278
