extrinsic
-0.586924 0.0394457 0.808681 -0.287265 
-0.0989481 0.987831 -0.119999 0.190024 
-0.803573 -0.150448 -0.575878 1.55831 
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 

0.322871 1.282871
