extrinsic
0.945659 0.0421132 -0.32242 0.583928 
-0.0997101 0.981363 -0.164269 -0.441486 
0.309493 0.187491 0.932235 2.1087 
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 

0.517303 1.477303
