extrinsic
0.880893 0.0354844 0.471984 1.01798 
-0.0706861 0.995866 0.0570554 0.0603445 
-0.468008 -0.0836224 0.879759 1.72465 
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 

0.731063 1.691063
