extrinsic
0.788271 0.0625215 -0.612143 0.194769 
0.0107892 0.993267 0.115341 0.158238 
0.615233 -0.0975247 0.782289 2.07788 
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 

0.436504 1.396504
