extrinsic
0.870797 0.041522 0.489887 1.2178 
-0.125219 0.982298 0.139325 0.191109 
-0.47543 -0.182667 0.860581 1.6207 
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 

0.699482 1.659482
