extrinsic
-0.0369606 0.0432012 0.998382 -1.04844 
0.154981 0.987225 -0.0369809 -0.257176 
-0.987226 0.153363 -0.0431838 1.25288 
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 

0.410360 1.370360
