extrinsic
0.865804 0.0149901 -0.500159 0.649792 
-0.0188059 0.99982 -0.00258871 -0.000658877 
0.50003 0.0116472 0.86593 2.7001 
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 

0.846878 1.806878
