extrinsic
-0.752599 -0.051255 0.656482 -0.457126 
-0.0759759 0.997067 -0.00925341 0.294026 
-0.654082 -0.0568409 -0.754285 1.42879 
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 

0.283165 1.243165
