extrinsic
0.00227422 0.00868429 0.99996 0.511096 
0.0933874 0.99559 -0.00885873 -0.0817344 
-0.995627 0.0934038 0.00145319 0.519911 
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 

0.435806 1.395806
