extrinsic
-0.882596 -0.00961579 0.470033 0.134647 
0.049525 0.992326 0.113295 0.0714422 
-0.467515 0.123273 -0.875347 1.49331 
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 

0.283516 1.243516
