extrinsic
-0.942542 0.00991552 -0.333939 0.352751 
0.0940571 0.967004 -0.236763 0.306402 
0.320573 -0.254568 -0.912375 1.38783 
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 

0.459056 1.419056
