extrinsic
-0.184912 -0.00542279 0.98274 0.557767 
-0.13943 0.990014 -0.0207722 0.0452678 
-0.972814 -0.140865 -0.183821 0.477076 
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 

0.456078 1.416078
