extrinsic
-0.885755 -0.0140073 0.463943 0.247295 
0.0534896 0.989805 0.132006 -0.0391279 
-0.461062 0.141741 -0.875975 1.43751 
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 

0.312830 1.272830
