extrinsic
-0.773999 0.0301742 0.632468 -0.411792 
-0.157451 0.958317 -0.238405 0.650647 
-0.613299 -0.284108 -0.736985 1.28997 
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 

0.256096 1.216096
