extrinsic
-0.91407 -0.0032273 0.405545 0.399101 
0.0623769 0.986951 0.148447 -0.145616 
-0.400732 0.160988 -0.901941 1.3928 
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 

0.278128 1.238128
