extrinsic
-0.920869 -0.000729418 -0.389872 0.530519 
0.0254522 0.997753 -0.0619842 0.0287735 
0.389041 -0.0670024 -0.918781 1.44678 
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 

0.436359 1.396359
