extrinsic
0.941353 0.0595297 0.332131 0.94144 
-0.0850585 0.994392 0.0628492 0.0433512 
-0.326527 -0.0874138 0.941137 1.65811 
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 

0.564034 1.524034
