extrinsic
0.490298 0.0481943 -0.870221 0.0774343 
0.0541857 0.994853 0.0856258 0.067222 
0.869869 -0.0891357 0.485163 1.36996 
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 

0.384664 1.344664
