extrinsic
0.16527 -0.00643276 -0.986227 -0.777472 
-0.215502 0.975579 -0.0424767 -0.411189 
0.962416 0.219554 0.159848 1.49168 
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 

0.294332 1.254332
