extrinsic
0.944447 0.0481573 0.325116 1.12146 
-0.0926965 0.988078 0.122922 0.19907 
-0.31532 -0.14623 0.937651 2.1119 
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 

0.908770 1.868770
