extrinsic
0.272122 -0.011194 -0.962198 0.298439 
0.125524 0.991801 0.0239615 0.0691688 
0.95404 -0.127299 0.271296 1.03008 
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 

0.505976 1.465976
