extrinsic
-0.851484 0.0731102 -0.519259 0.117026 
0.10255 0.994329 -0.0281634 0.0444844 
0.514256 -0.0772307 -0.854153 1.17379 
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 

0.534237 1.494237
