extrinsic
0.827772 0.040779 0.55958 1.20725 
-0.130194 0.984093 0.120878 0.160721 
-0.54575 -0.172913 0.819914 1.56368 
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 

0.736508 1.696508
