extrinsic
0.897798 0.0621251 0.436004 0.990666 
-0.0661135 0.997794 -0.00603562 -0.0950224 
-0.435417 -0.023407 0.899924 1.72228 
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 

0.728785 1.688785
