extrinsic
0.451619 0.0170192 -0.892049 -0.45754 
0.259523 0.954081 0.149592 0.566772 
0.853632 -0.299065 0.426464 1.74029 
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 

0.338352 1.298352
