extrinsic
0.925121 0.0360951 0.377952 -0.118905 
-0.102897 0.982051 0.158077 0.186929 
-0.365462 -0.18513 0.91223 1.2344 
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 

0.676053 1.636053
