extrinsic
-0.905974 0.0764549 -0.416373 -0.248138 
0.0926503 0.995521 -0.0187963 0.0365405 
0.413071 -0.0556061 -0.908999 1.00228 
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 

0.536176 1.496176
