extrinsic
0.24179 0.0138091 0.97023 -0.966434 
-0.0521229 0.99864 -0.00122397 0.121193 
-0.968928 -0.0502753 0.242181 1.62801 
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 

0.922668 1.882668
