extrinsic
-0.896018 0.0480182 0.441413 0.344079 
0.0114263 0.9963 -0.0851864 0.146798 
-0.44387 -0.0712849 -0.893251 1.42429 
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 

0.289801 1.249801
