extrinsic
0.992315 0.0397877 0.117163 0.597101 
-0.048361 0.996284 0.0712636 0.090211 
-0.113892 -0.076382 0.990553 2.16538 
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 

0.815314 1.775314
