extrinsic
-0.569467 0.056063 0.8201 -0.184753 
-0.0598952 0.99219 -0.109418 0.122622 
-0.819829 -0.11143 -0.561662 1.58972 
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 

0.350832 1.310832
