extrinsic
0.173158 0.0120678 0.98482 0.36716 
-0.0844967 0.99642 0.00264687 0.0751045 
-0.981263 -0.0836724 0.173558 1.21512 
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 

0.837329 1.797329
