extrinsic
0.72484 0.0712852 0.685219 0.21871 
0.0392918 0.988735 -0.144425 -0.195015 
-0.687796 0.131608 0.713874 0.827806 
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 

0.454080 1.414080
