extrinsic
0.471509 0.0237315 -0.881542 -0.312361 
-0.0879195 0.995922 -0.0202147 -0.209028 
0.877468 0.0870361 0.471673 1.74875 
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 

0.320660 1.280660
