extrinsic
0.594943 0.0666078 0.801003 0.23911 
0.139452 0.972893 -0.184479 -0.248098 
-0.791578 0.221456 0.569527 0.748319 
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 

0.468323 1.428323
