extrinsic
-0.894988 0.0793261 0.43898 -0.269783 
-0.0173813 0.977114 -0.212007 0.32757 
-0.445751 -0.197374 -0.873127 1.46752 
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 

0.308153 1.268153
