extrinsic
0.000813523 0.0232494 0.999729 -0.780307 
-0.113525 0.993269 -0.0230068 0.108956 
-0.993535 -0.113476 0.00344744 1.24149 
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 

0.440469 1.400469
