extrinsic
0.694831 0.0310111 -0.718504 0.260896 
-0.00645815 0.999299 0.036885 0.0672615 
0.719144 -0.0209886 0.694544 1.39885 
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 

0.372316 1.332316
