extrinsic
0.984967 0.0269152 0.170635 -0.689917 
-0.00774423 0.993674 -0.112035 -0.163906 
-0.172572 0.109029 0.978944 0.948516 
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 

0.676316 1.636316
