extrinsic
0.879121 0.0674528 -0.4718 0.446784 
-0.0731634 0.9973 0.00625524 -0.125177 
0.470949 0.0290194 0.881683 2.10361 
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 

0.466705 1.426705
