extrinsic
-0.30531 0.0414706 0.95135 0.548894 
-0.0887613 0.993462 -0.0717919 0.0856498 
-0.948107 -0.106362 -0.299633 1.31399 
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 

0.822829 1.782829
