extrinsic
-0.899292 0.0923426 0.427489 -0.234922 
-0.00638476 0.974579 -0.223952 0.394376 
-0.437302 -0.204127 -0.875842 1.44562 
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 

0.293140 1.253140
