extrinsic
0.895563 0.024436 0.444263 0.374102 
-0.0949518 0.985985 0.137175 0.2657 
-0.434685 -0.165032 0.885332 1.4244 
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 

0.723544 1.683544
