extrinsic
0.876483 0.0259488 0.480733 0.550025 
-0.0904827 0.989631 0.111552 0.182717 
-0.472854 -0.141272 0.869742 1.4684 
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 

0.659863 1.619863
