extrinsic
-0.488528 0.0199413 0.87232 -0.543883 
-0.0436522 0.997928 -0.0472593 0.0763294 
-0.871455 -0.0611662 -0.486646 2.19601 
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 

0.650492 1.610492
