extrinsic
-0.966739 0.0506661 -0.250695 -0.85039 
0.0586794 0.997974 -0.0245883 0.0354711 
0.248942 -0.0384812 -0.967754 0.532354 
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 

0.509824 1.469824
