extrinsic
-0.0223008 0.0286825 0.99934 -0.548925 
0.0551414 0.998102 -0.0274165 -0.0895049 
-0.998229 0.0544936 -0.0238401 1.12927 
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 

0.447172 1.407172
