extrinsic
-0.931171 0.0259256 -0.36366 0.725135 
-0.0243756 0.990809 0.133051 -0.334235 
0.363767 0.132757 -0.921981 1.44383 
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 

0.400116 1.360116
