extrinsic
0.684433 0.0508119 -0.727303 -0.0473064 
0.120046 0.976099 0.181164 0.42219 
0.719125 -0.211305 0.661974 1.98867 
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 

0.412729 1.372729
