extrinsic
0.880497 0.0257775 0.473351 0.211485 
-0.101805 0.985505 0.135703 0.233052 
-0.462992 -0.167676 0.870358 1.32904 
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 

0.684103 1.644103
