extrinsic
0.947689 0.0421475 0.316399 -0.327736 
-0.082956 0.989704 0.116634 0.108477 
-0.308225 -0.13678 0.941429 1.21378 
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 

0.757701 1.717701
