extrinsic
0.897482 0.0286779 0.440118 1.26493 
-0.0179799 0.999433 -0.0284584 -0.107639 
-0.440685 0.0176276 0.897489 1.45148 
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 

0.486888 1.446888
