extrinsic
-0.888968 0.0274197 -0.457147 0.816597 
-0.0932072 0.966481 0.23922 -0.463458 
0.448383 0.255269 -0.856616 1.34368 
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 

0.429059 1.389059
