extrinsic
0.409037 0.0160996 -0.912376 -0.405683 
-0.192209 0.978932 -0.0688973 -0.418372 
0.892045 0.203549 0.403514 1.70374 
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 

0.360805 1.320805
