extrinsic
0.485795 0.0472851 -0.872793 0.0547621 
0.0321823 0.996891 0.0719209 0.0533716 
0.87348 -0.0630273 0.482762 1.44415 
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 

0.419875 1.379875
