extrinsic
-0.811488 0.0393868 0.58304 0.162712 
0.115671 0.988811 0.0941952 -0.275502 
-0.572807 0.143879 -0.806964 1.49428 
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 

0.228707 1.188707
