extrinsic
-0.878628 0.0453753 0.475345 0.102147 
0.142715 0.974927 0.170731 -0.141476 
-0.45568 0.217848 -0.863075 1.49896 
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 

0.206821 1.166821
