extrinsic
-0.773342 0.12968 0.620585 -0.535713 
-0.0524406 0.962419 -0.266459 0.524269 
-0.631817 -0.238608 -0.737478 1.32784 
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 

0.324497 1.284497
