extrinsic
-0.981198 0.0310229 -0.190496 0.506942 
0.0273279 0.999385 0.0219938 -0.129333 
0.191061 0.0163744 -0.981441 1.51936 
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 

0.380474 1.340474
