extrinsic
-0.123654 0.0261508 0.991981 -0.192215 
-0.0117967 0.999543 -0.0278206 0.0193454 
-0.992255 -0.0151422 -0.123289 2.0147 
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 

0.999076 1.959076
