extrinsic
0.99645 0.0414309 -0.073286 0.550569 
-0.0205864 0.964008 0.265077 0.482297 
0.0816307 -0.262627 0.961438 1.68801 
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 

0.385220 1.345220
