extrinsic
-0.284401 0.0136772 0.958608 -0.777105 
-0.102575 0.993724 -0.0446104 0.136314 
-0.953202 -0.111017 -0.281214 1.40285 
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 

0.370759 1.330759
