extrinsic
-0.821852 0.0440802 0.567993 -0.0687638 
-0.010515 0.995659 -0.0924846 0.349546 
-0.569604 -0.0819811 -0.817821 1.46744 
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 

0.304425 1.264425
