extrinsic
0.872257 0.0373009 0.487624 0.518391 
-0.166162 0.960375 0.223765 0.307716 
-0.459955 -0.276205 0.843891 1.10126 
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 

0.445289 1.405289
