extrinsic
-0.970502 0.0534553 0.235093 -0.0527375 
0.0220904 0.990725 -0.134078 0.155936 
-0.240079 -0.12493 -0.962681 1.68037 
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 

0.360480 1.320480
