extrinsic
-0.0318772 0.0221198 0.999247 -0.387321 
-0.0112961 0.999683 -0.0224898 0.0260461 
-0.999428 -0.0120045 -0.0316172 2.00312 
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 

1.028730 1.988730
