extrinsic
-0.996755 0.0288636 0.0751464 -0.00325578 
0.0364478 0.994158 0.101595 -0.283735 
-0.071775 0.104004 -0.991984 2.02501 
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 

0.626862 1.586862
