extrinsic
0.821443 0.0220564 0.569864 1.1897 
0.098241 0.978841 -0.179497 -0.288863 
-0.561765 0.203431 0.801895 1.17875 
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 

0.431387 1.391387
