extrinsic
0.0491008 0.0340167 0.998214 0.496356 
-0.0974671 0.994813 -0.0291065 0.0534737 
-0.994027 -0.0958639 0.0521616 1.17062 
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 

0.788192 1.748192
