extrinsic
0.872783 -0.033965 0.486925 -0.746057 
-0.0124582 0.995701 0.0917849 0.0470553 
-0.487949 -0.0861746 0.868608 1.03612 
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 

0.824236 1.784236
