extrinsic
-0.582378 0.00604419 0.812896 0.173661 
-0.0571276 0.997196 -0.0483421 0.0940813 
-0.810908 -0.0745921 -0.5804 1.85767 
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 

0.660291 1.620291
