extrinsic
-0.929035 0.0714356 -0.36303 -0.421827 
0.0834526 0.996358 -0.0175055 0.0353807 
0.360457 -0.046559 -0.931613 0.903977 
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 

0.516997 1.476997
