extrinsic
0.999633 0.0247054 -0.0110708 0.343127 
-0.0232816 0.993187 0.114181 0.18698 
0.0138163 -0.113881 0.993398 2.16789 
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 

0.717916 1.677916
