extrinsic
-0.994475 0.0373332 0.0981066 0.0253652 
0.0425269 0.997773 0.0513928 -0.190492 
-0.0959694 0.055281 -0.993848 1.96031 
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 

0.598689 1.558689
