extrinsic
-0.890245 0.0160741 0.455198 0.361114 
0.0868913 0.987017 0.135082 -0.250254 
-0.447117 0.159809 -0.880084 1.42312 
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 

0.266372 1.226372
