extrinsic
0.952192 0.0191668 -0.304898 0.524991 
-0.0740811 0.982729 -0.169577 -0.385065 
0.296382 0.184057 0.937166 2.0768 
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 

0.496641 1.456641
