extrinsic
0.814239 0.0351162 0.579467 1.35407 
0.0771709 0.982763 -0.167993 -0.324286 
-0.575378 0.181504 0.797494 1.1806 
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 

0.443117 1.403117
