extrinsic
0.929896 0.0372072 0.365935 1.21416 
-0.104079 0.980828 0.164752 0.299251 
-0.352789 -0.191288 0.915941 2.04937 
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 

0.913612 1.873612
