extrinsic
0.225585 -0.00610795 -0.974204 -0.787352 
0.292997 0.95411 0.0618637 0.513545 
0.92912 -0.299394 0.217022 1.54209 
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 

0.337116 1.297116
