extrinsic
-0.0757316 0.0141384 -0.997028 0.127239 
-0.106718 0.994041 0.0222021 -0.209926 
0.991401 0.108082 -0.0737715 1.0432 
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 

0.537628 1.497628
