extrinsic
0.98293 0.0390512 0.179785 0.618786 
-0.0630221 0.98956 0.129615 0.20863 
-0.172846 -0.138733 0.975129 2.04419 
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 

0.767872 1.727872
