extrinsic
0.891541 0.0545493 0.449643 0.33982 
-0.169862 0.960536 0.220269 0.276094 
-0.419882 -0.272756 0.865623 1.05762 
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 

0.506635 1.466635
