extrinsic
-0.272914 0.0281315 0.961627 0.266189 
-0.0725253 0.996126 -0.0497238 0.101743 
-0.959301 -0.0833127 -0.269817 1.7084 
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 

0.848764 1.808764
