extrinsic
0.431156 0.01433 -0.902164 0.272085 
0.119035 0.990231 0.0726173 0.0528879 
0.894391 -0.138699 0.425238 1.01701 
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 

0.495370 1.455370
