extrinsic
-0.832375 0.045345 0.552355 0.0262895 
-0.0127787 0.994812 -0.100925 0.347578 
-0.554065 -0.0910659 -0.827477 1.44242 
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 

0.282241 1.242241
