extrinsic
-0.0920782 0.0341624 0.995166 -0.351375 
0.113433 0.993265 -0.0236018 -0.148292 
-0.98927 0.110711 -0.0953332 1.04943 
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 

0.441307 1.401307
