extrinsic
-0.186604 0.042533 0.981514 0.213152 
-0.0804697 0.995044 -0.0584181 0.100384 
-0.979134 -0.0898832 -0.182256 1.51027 
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 

0.814062 1.774062
