extrinsic
-0.960652 0.0339497 -0.275672 0.134974 
0.117172 0.9494 -0.291394 0.374736 
0.251831 -0.312229 -0.916021 1.32056 
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 

0.593209 1.553209
