extrinsic
-0.85447 0.0461203 0.517449 0.11975 
-0.0028089 0.995627 -0.0933788 0.312519 
-0.519493 -0.0812429 -0.850604 1.4469 
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 

0.280936 1.240936
