extrinsic
-0.889055 -0.0155001 0.457538 0.219162 
0.0486449 0.99057 0.128081 0.0140859 
-0.455209 0.136128 -0.879917 1.47266 
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 

0.354259 1.314259
