extrinsic
0.402892 -0.000286547 -0.915248 -0.0158946 
-0.0277614 0.999536 -0.0125335 -0.111331 
0.914827 0.0304582 0.402697 2.4243 
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 

0.650739 1.610739
