extrinsic
0.459362 0.000827085 -0.888249 0.0316554 
-0.0324057 0.999349 -0.0158282 -0.121068 
0.887658 0.0360552 0.45909 2.39019 
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 

0.637315 1.597315
