extrinsic
-0.989712 0.0424743 0.136622 0.0825605 
0.0436915 0.999028 0.00592159 -0.0613215 
-0.136237 0.0118299 -0.990606 1.58206 
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 

0.302838 1.262838
