extrinsic
0.998981 -0.00167489 0.0450998 0.915984 
-0.00863183 0.973772 0.227363 0.482984 
-0.0442977 -0.22752 0.972765 1.66217 
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 

0.445168 1.405168
