extrinsic
0.270011 -0.000768905 -0.962857 -0.237165 
-0.030109 0.999504 -0.00924153 -0.113522 
0.962386 0.0314859 0.269854 2.43891 
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 

0.686457 1.646457
