extrinsic
-0.70448 0.045307 0.708276 -0.0837141 
-0.0621812 0.990183 -0.125188 0.167508 
-0.706994 -0.132234 -0.694747 1.53956 
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 

0.261706 1.221706
