extrinsic
-0.902365 0.0446421 0.428655 -0.243323 
0.0480943 0.998839 -0.00277993 0.0149298 
-0.428281 0.0181073 -0.903464 1.52657 
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 

0.282886 1.242886
