extrinsic
0.962313 0.0179444 0.271353 0.856295 
-0.0505502 0.992234 0.113653 0.168813 
-0.267206 -0.123087 0.955746 1.92979 
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 

0.752947 1.712947
