extrinsic
0.206159 0.00714286 -0.978492 0.391065 
-0.141984 0.989609 -0.0226906 -0.232493 
0.968163 0.143608 0.205031 0.961869 
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 

0.533832 1.493832
