extrinsic
0.949118 0.0212955 0.3142 1.09296 
-0.0814574 0.980358 0.179617 0.357268 
-0.304203 -0.196071 0.93221 2.11444 
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 

0.954559 1.914559
