extrinsic
-0.993974 0.0448687 0.10001 0.0694293 
0.0411759 0.998403 -0.0386887 -0.00801636 
-0.101586 -0.0343376 -0.994234 1.86653 
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 

0.551307 1.511307
