extrinsic
0.981467 0.0398253 0.187446 0.786542 
-0.0758679 0.978995 0.189244 0.28533 
-0.175972 -0.199958 0.963873 1.6925 
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 

0.490360 1.450360
