extrinsic
0.871739 0.0619694 0.486035 0.253704 
-0.143447 0.980784 0.132232 0.149217 
-0.468502 -0.184992 0.863877 1.01644 
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 

0.489108 1.449108
