extrinsic
0.743886 0.0526691 0.666228 1.20645 
-0.052968 0.9984 -0.0197871 -0.0727953 
-0.666205 -0.0205695 0.745485 1.35963 
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 

0.677371 1.637371
