extrinsic
-0.89984 0.0459532 0.433792 -0.286426 
0.0507775 0.99871 -0.000466397 -0.0100112 
-0.433254 0.0216072 -0.901013 1.52567 
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 

0.299528 1.259528
