extrinsic
0.211775 0.0220314 0.97707 -0.878843 
-0.0236087 0.999569 -0.0174216 0.100193 
-0.977033 -0.0193779 0.212204 1.83509 
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 

1.038950 1.998950
