extrinsic
0.937186 0.0360137 -0.346967 0.455573 
-0.017216 0.998219 0.0571091 0.159184 
0.348406 -0.0475485 0.936137 3.08463 
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 

1.098690 2.058690
