extrinsic
-0.204043 0.0278193 0.978566 0.411855 
-0.201514 0.976996 -0.0697928 0.0847261 
-0.957997 -0.211436 -0.193744 0.579309 
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 

0.450783 1.410783
