extrinsic
-0.686297 -0.0299144 0.726706 -0.467911 
0.418456 0.800983 0.428159 -0.714684 
-0.594887 0.597939 -0.537194 1.23424 
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 

0.165691 1.125691
