extrinsic
0.688688 0.00945035 -0.724996 0.264754 
-0.0117455 0.999929 0.00187681 -0.0339067 
0.724963 0.00722292 0.68875 2.29425 
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 

0.658613 1.618613
