extrinsic
0.868474 0.0242184 0.495142 1.2337 
-0.104405 0.985339 0.13493 0.193665 
-0.484615 -0.168878 0.858271 1.61086 
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 

0.699028 1.659028
