extrinsic
0.751244 0.0131755 -0.659893 0.276472 
-0.0136928 0.999897 0.0043756 -0.0150692 
0.659883 0.00574866 0.751347 2.52848 
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 

0.736540 1.696540
