extrinsic
0.867364 0.0497226 0.495185 1.0798 
-0.050272 0.998661 -0.0122214 -0.0969546 
-0.495129 -0.0142935 0.868702 1.68367 
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 

0.725837 1.685837
