extrinsic
-0.323293 0.0532075 0.944802 0.296272 
0.0445995 0.998165 -0.0409516 -0.100093 
-0.945247 0.0288983 -0.325073 0.678411 
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 

0.431367 1.391367
