extrinsic
0.281752 0.0208876 0.95926 -1.01318 
-0.0447899 0.998959 -0.00859639 0.168155 
-0.958441 -0.0405431 0.282395 1.75399 
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 

1.033070 1.993070
