extrinsic
0.968196 0.0274573 -0.248683 1.05355 
-0.0183693 0.999078 0.038792 0.109315 
0.249519 -0.0329901 0.967808 2.9804 
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 

1.072080 2.032080
