extrinsic
0.981324 -0.0159001 0.191705 -0.984123 
0.00715416 0.998905 0.0462281 0.0221627 
-0.19223 -0.0439932 0.980363 0.77029 
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 

0.788429 1.748429
