extrinsic
0.995343 0.0122257 0.095617 -0.880562 
-0.0018189 0.99413 -0.108176 -0.13422 
-0.0963782 0.107499 0.989523 0.826789 
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 

0.803408 1.763408
