extrinsic
-0.573364 0.0590584 0.817169 -0.286082 
0.125963 0.991894 0.0166957 -0.231906 
-0.80956 0.112506 -0.576156 1.48708 
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 

0.270399 1.230399
