extrinsic
-0.542232 0.0216477 0.83995 -0.359781 
-0.142034 0.98292 -0.117023 0.242114 
-0.828137 -0.182755 -0.529896 1.57405 
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 

0.363021 1.323021
