extrinsic
0.987165 0.0391365 -0.154835 0.655378 
-0.0330802 0.998591 0.0415006 0.0740456 
0.156241 -0.035846 0.987068 2.57773 
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 

0.887371 1.847371
