extrinsic
-0.545275 0.0109886 -0.838185 -0.421734 
-0.022641 0.999356 0.0278305 -0.117316 
0.837952 0.0341526 -0.544675 0.963062 
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 

0.536551 1.496551
