extrinsic
0.95971 0.0357128 0.278713 0.634325 
-0.0751895 0.988359 0.132261 0.210088 
-0.270745 -0.147889 0.951223 1.89859 
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 

0.732833 1.692833
