extrinsic
-0.235167 0.0434084 0.970985 0.394866 
-0.0896713 0.993773 -0.0661449 0.0905822 
-0.96781 -0.102625 -0.22981 1.41916 
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 

0.832232 1.792232
