extrinsic
-0.948705 0.0565127 0.311072 -0.107686 
-0.00804836 0.97926 -0.202449 0.267476 
-0.316061 -0.194568 -0.928574 1.58553 
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 

0.286927 1.246927
