extrinsic
-0.805556 0.125517 0.579073 -0.443528 
-0.0474171 0.960515 -0.27416 0.573207 
-0.59062 -0.248309 -0.767796 1.34321 
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 

0.323669 1.283669
