extrinsic
-0.91843 -0.00666188 0.395527 0.219827 
0.0311022 0.995547 0.0889886 0.1586 
-0.394359 0.0940316 -0.914133 1.50152 
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 

0.286309 1.246309
