extrinsic
-0.966639 0.0589631 -0.249264 -0.753607 
0.065664 0.997668 -0.018646 0.0362178 
0.247583 -0.0343916 -0.968256 0.651014 
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 

0.519442 1.479442
