extrinsic
-0.78797 0.0574198 0.613031 0.0791321 
-0.00106285 0.995514 -0.0946114 0.108467 
-0.615713 -0.0752025 -0.784374 1.48517 
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 

0.280162 1.240162
