extrinsic
-0.814516 0.109844 0.569647 -0.458637 
-0.0501599 0.9649 -0.257781 0.488703 
-0.577969 -0.23854 -0.780417 1.37439 
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 

0.290643 1.250643
