extrinsic
0.216052 -0.00458389 -0.976371 0.327741 
-0.0204518 0.999748 -0.00921923 -0.0837636 
0.976168 0.0219604 0.215904 1.00515 
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 

0.520980 1.480980
