extrinsic
-0.79333 0.0577046 0.606051 -0.403656 
-0.131471 0.955768 -0.263101 0.638266 
-0.594426 -0.288404 -0.750653 1.3179 
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 

0.282054 1.242054
