extrinsic
0.591394 0.0293981 -0.805847 -0.0205607 
-0.00361708 0.999422 0.0338055 -0.0153943 
0.806375 -0.0170775 0.591159 1.56436 
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 

0.428843 1.388843
