extrinsic
-0.976875 0.0554932 0.206486 -0.0790349 
0.0399156 0.996086 -0.0788598 0.0625554 
-0.210055 -0.0687941 -0.975266 1.74387 
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 

0.419296 1.379296
