extrinsic
-0.769549 0.0540279 0.636298 0.0528806 
-0.0110613 0.995137 -0.0978746 0.0889823 
-0.638491 -0.0823576 -0.76521 1.52693 
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 

0.318387 1.278387
