extrinsic
-0.656861 -0.0691975 0.75083 -0.633717 
0.274281 0.905633 0.323418 -0.421315 
-0.702356 0.418379 -0.575895 1.31537 
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 

0.211889 1.171889
