extrinsic
0.664756 0.00723683 -0.747025 0.349881 
-0.0218705 0.999713 -0.0097772 -0.0697719 
0.74674 0.0228373 0.664724 2.26825 
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 

0.632807 1.592807
