extrinsic
0.940245 0.0373347 0.338446 0.755338 
-0.068394 0.994421 0.0803103 0.105928 
-0.333559 -0.098659 0.937552 1.85786 
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 

0.728863 1.688863
