extrinsic
-0.602174 -0.0484164 0.796896 -0.679648 
0.449255 0.804577 0.388362 -0.65146 
-0.659967 0.591871 -0.462744 1.16512 
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 

0.199099 1.159099
