extrinsic
-0.849918 0.0518492 -0.524357 0.249126 
0.0996258 0.99301 -0.0632909 0.0699189 
0.51741 -0.106032 -0.849143 1.23928 
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 

0.592097 1.552097
