extrinsic
-0.915698 0.0468041 0.399132 0.401551 
0.0135704 0.99623 -0.0856889 0.175621 
-0.401638 -0.0730488 -0.91288 1.40556 
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 

0.310035 1.270035
