extrinsic
-0.542167 0.0146278 0.840143 -0.54028 
-0.00971241 0.999673 -0.0236731 0.0438693 
-0.840215 -0.0209946 -0.541848 2.51293 
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 

0.816733 1.776733
