extrinsic
0.715788 0.0112666 -0.698226 0.222733 
-0.00915734 0.999935 0.00674736 -0.0146416 
0.698257 0.00156421 0.715845 2.39183 
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 

0.714333 1.674333
