extrinsic
-0.932238 0.0596939 0.356889 -0.14785 
-0.0161825 0.978434 -0.205925 0.284389 
-0.361485 -0.197747 -0.911167 1.52343 
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 

0.344877 1.304877
