extrinsic
-0.91636 0.0871487 0.390755 -0.173842 
-0.0107754 0.970298 -0.241671 0.427201 
-0.400211 -0.225668 -0.888203 1.45662 
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 

0.303985 1.263985
