extrinsic
0.524946 0.0268639 -0.850712 -0.174118 
-0.0226406 0.999589 0.0175944 -0.0575288 
0.850835 0.0100245 0.525338 1.66536 
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 

0.283755 1.243755
