extrinsic
0.922964 0.0599251 -0.380192 0.569446 
-0.112508 0.986666 -0.117612 -0.390759 
0.368074 0.151326 0.917399 2.09351 
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 

0.472687 1.432687
