extrinsic
-0.882682 0.0502095 0.46728 0.25995 
0.00856392 0.99583 -0.0908255 0.22353 
-0.469892 -0.0761683 -0.879432 1.4318 
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 

0.290150 1.250150
