extrinsic
0.486294 0.0283198 -0.873336 0.221704 
0.10675 0.990063 0.0915455 0.0547788 
0.86725 -0.137746 0.478438 1.04684 
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 

0.469451 1.429451
