extrinsic
0.976814 0.00420228 -0.214049 0.619221 
-0.0111487 0.999449 -0.0312558 0.000596092 
0.2138 0.0329175 0.976323 2.02901 
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 

0.485956 1.445956
