extrinsic
-0.0557775 0.00281539 -0.998439 -1.12711 
0.220956 0.975237 -0.00959367 0.325266 
0.973687 -0.221146 -0.0550184 1.28971 
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 

0.295156 1.255156
