extrinsic
-0.322216 0.0130861 -0.946576 1.19829 
0.021562 0.999747 0.00648142 -0.058779 
0.94642 -0.0183216 -0.322417 1.54462 
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 

0.714543 1.674543
