extrinsic
-0.202471 0.0436276 0.978316 -0.836324 
-0.00463388 0.998953 -0.045507 -0.0501483 
-0.979277 -0.0137472 -0.202057 1.50931 
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 

0.522492 1.482492
