extrinsic
-0.216312 0.0345189 0.975714 -0.630746 
-0.341681 0.9335 -0.108775 0.500094 
-0.914584 -0.356912 -0.190132 1.41853 
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 

0.483065 1.443065
