extrinsic
-0.419003 0.0289892 0.907522 -0.565346 
-0.0676868 0.995712 -0.0630573 0.106887 
-0.905458 -0.0878484 -0.415244 1.89156 
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 

0.692532 1.652532
