extrinsic
-0.52684 0.013415 0.849859 -0.494267 
-0.0368845 0.998573 -0.0386277 0.0750694 
-0.849164 -0.0516972 -0.525593 2.36825 
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 

0.698739 1.658739
