extrinsic
0.831551 0.00905393 0.555375 1.02465 
0.034686 0.997069 -0.0681892 -0.0941428 
-0.554365 0.0759666 0.8288 1.2146 
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 

0.446491 1.406491
