extrinsic
0.534558 0.0450174 -0.843932 -0.326062 
0.186314 0.967735 0.169635 0.486898 
0.824339 -0.247916 0.508923 1.86387 
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 

0.384512 1.344512
