extrinsic
-0.171655 0.0119723 0.985084 -0.615243 
-0.291361 0.954578 -0.0623723 0.3982 
-0.941086 -0.297721 -0.16037 1.38785 
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 

0.470664 1.430664
