extrinsic
-0.807366 0.047081 0.58817 -0.0770442 
-0.0195992 0.994122 -0.106479 0.413274 
-0.589725 -0.0974955 -0.801697 1.43505 
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 

0.288719 1.248719
