extrinsic
-0.495933 -0.00206578 0.868358 -0.434051 
-0.162945 0.982455 -0.0907231 0.245104 
-0.852936 -0.186487 -0.487568 1.55226 
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 

0.372268 1.332268
