extrinsic
0.99921 -0.0211531 -0.0336521 0.874474 
0.0258983 0.988725 0.147488 0.375759 
0.0301528 -0.148243 0.988491 1.81212 
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 

0.461375 1.421375
