extrinsic
0.99637 0.023335 0.0818635 0.521904 
-0.0327259 0.992789 0.115318 0.183478 
-0.0785823 -0.117579 0.98995 2.11344 
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 

0.736127 1.696127
