extrinsic
0.841446 0.0158707 0.540109 0.731548 
-0.156675 0.963794 0.215766 0.309948 
-0.517129 -0.266177 0.813466 1.09899 
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 

0.407300 1.367300
