static Ogre::Matrix3 convertToMatrix3(CvMat* m) {
    Ogre::Matrix3 ret(
    cvGetReal2D(m, 0, 0)
    , cvGetReal2D(m, 0, 1)
    , cvGetReal2D(m, 0, 2)
    , cvGetReal2D(m, 1, 0)
    , cvGetReal2D(m, 1, 1)
    , cvGetReal2D(m, 1, 2)
    , cvGetReal2D(m, 2, 0)
    , cvGetReal2D(m, 2, 1)
    , cvGetReal2D(m, 2, 2));
    return ret;
}

void Scene::setupARCamera() {
    CvMat* intrinsicsCv = (CvMat*) cvLoad(INTRINSIC_XML);
    const Ogre::Matrix3& intrinsics = convertToMatrix3(intrinsicsCv);
    log("3x3: " + Ogre::StringConverter::toString(intrinsics));
    /* TODO: load from xml */
    const float w = 960.0;
    const float h = 540.0;
    Camera* camera = FrameWork::instance()->camera();
    Matrix4 projection = camera->getProjectionMatrix();
    projection[0][0] = intrinsics[0][0] / w;
    projection[1][1] = intrinsics[1][1] / h;
    projection[2][2] = -0.100;
    projection[3][2] = -1.000;
    projection[3][3] = 0.000;
    log("ogre prj matrix: " + Ogre::StringConverter::toString(projection));
    camera->setCustomProjectionMatrix(true, projection);
    log("4x4: " + Ogre::StringConverter::toString(projection));
    log("Camera position: " + Ogre::StringConverter::toString(camera->getPosition()));
    log("Camera direction: " + Ogre::StringConverter::toString(camera->getOrientation()));
    log("Camera far clip distance: " + Ogre::StringConverter::toString(camera->getFarClipDistance()));
    log("Camera near clip distance: " + Ogre::StringConverter::toString(camera->getNearClipDistance()));
    log("Camera focal length: " + Ogre::StringConverter::toString(camera->getFocalLength()));
    log("Camera FOVy: " + Ogre::StringConverter::toString(camera->getFOVy()));
}