extrinsic
-0.94946 0.0654754 -0.306983 -0.59474 
0.0739677 0.997131 -0.0160983 0.0403762 
0.305048 -0.0379915 -0.951579 0.784943 
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 

0.530038 1.490038
