extrinsic
-0.254497 0.0463717 0.965961 0.54986 
-0.0914047 0.993225 -0.0717625 0.0731254 
-0.962744 -0.106557 -0.248534 1.22888 
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 

0.852923 1.812923
