extrinsic
-0.259171 0.0390594 0.965041 0.348982 
-0.14106 0.986937 -0.0778287 0.0361697 
-0.955475 -0.1563 -0.250276 0.619507 
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 

0.491978 1.451978
