extrinsic
0.851516 0.0368139 0.523035 1.21751 
-0.124003 0.983373 0.132665 0.182282 
-0.509455 -0.177824 0.841923 1.6033 
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 

0.724735 1.684735
