extrinsic
-0.795999 -0.00744973 0.605252 -0.186556 
0.302571 0.861137 0.408526 -0.596521 
-0.524249 0.508318 -0.68321 1.35796 
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 

0.182731 1.142731
