extrinsic
0.989198 0.0386593 -0.141392 0.557791 
-0.0325258 0.998438 0.0454371 0.0778175 
0.142928 -0.0403474 0.98891 2.44619 
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 

0.816910 1.776910
