extrinsic
-0.574934 0.0173898 0.818015 -0.486246 
0.0151402 0.999829 -0.0106137 0.0136462 
-0.81806 0.0062827 -0.575099 2.64849 
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 

1.071190 2.031190
