extrinsic
-0.889116 -0.0175256 0.457347 0.280125 
0.0514512 0.989105 0.137927 -0.107133 
-0.454781 0.146165 -0.878527 1.41199 
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 

0.264131 1.224131
