extrinsic
-0.930408 0.0416916 0.364148 -0.113482 
0.0427975 0.999071 -0.0050358 0.0797569 
-0.364019 0.0108992 -0.931328 1.51476 
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 

0.312574 1.272574
