extrinsic
-0.28207 0.0599695 0.957518 0.16622 
0.103683 0.994105 -0.0317175 -0.139532 
-0.953775 0.0903317 -0.286624 0.772805 
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 

0.449177 1.409177
