extrinsic
-0.782537 -0.0169726 0.622372 -0.383108 
-0.159958 0.971555 -0.174627 0.586381 
-0.601705 -0.236206 -0.762993 1.36051 
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 

0.289886 1.249886
