extrinsic
-0.350719 0.0346497 0.935839 -0.618379 
-0.075021 0.995064 -0.0649578 0.0968482 
-0.933471 -0.0929895 -0.346389 1.72835 
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 

0.597863 1.557863
