extrinsic
0.962936 0.0344853 0.267516 0.65714 
-0.074663 0.987118 0.141504 0.228199 
-0.25919 -0.156233 0.953106 1.91491 
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 

0.736052 1.696052
