extrinsic
0.661817 0.0277137 -0.749153 0.154768 
-0.00310285 0.999409 0.0342305 0.0281554 
0.749659 -0.0203298 0.661512 1.47297 
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 

0.347238 1.307238
