extrinsic
-0.36571 0.00679799 0.930704 -0.185512 
-0.0590434 0.99779 -0.0304885 0.0711954 
-0.928854 -0.0661019 -0.3645 1.79213 
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 

0.646595 1.606595
