extrinsic
-0.931889 0.0384633 -0.3607 -0.878471 
0.0506265 0.998421 -0.0243296 0.0300997 
0.359194 -0.0409335 -0.932365 0.552107 
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 

0.498995 1.458995
