extrinsic
0.967552 0.031495 0.2507 0.945647 
-0.0462198 0.997521 0.053064 0.0786261 
-0.248407 -0.0629295 0.966609 2.18316 
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 

0.951883 1.911883
