extrinsic
-0.875894 0.0789129 -0.476006 -0.05299 
0.100522 0.994733 -0.020062 0.0423448 
0.471916 -0.0654214 -0.879213 1.09057 
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 

0.518848 1.478848
