extrinsic
-0.947451 0.0476087 -0.316337 0.0686512 
0.127375 0.963239 -0.236528 0.304132 
0.293448 -0.264392 -0.918687 1.28969 
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 

0.561896 1.521896
