extrinsic
0.842096 0.0394181 0.537885 1.15192 
-0.0484652 0.998821 0.00267836 -0.0490836 
-0.537146 -0.0283241 0.843014 1.63746 
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 

0.745568 1.705568
