extrinsic
0.0129025 -0.0022113 -0.999914 -0.9822 
-0.0420417 0.999112 -0.00275202 -0.0899908 
0.999033 0.0420736 0.0127981 1.38862 
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 

0.278355 1.238355
