extrinsic
0.560554 0.0408404 -0.82711 0.141495 
0.000768552 0.998757 0.0498367 0.0698452 
0.828118 -0.0285718 0.559826 1.45831 
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 

0.422423 1.382423
