extrinsic
0.926289 0.0697598 0.370301 0.924722 
-0.0761625 0.997092 0.00267752 -0.0659895 
-0.369037 -0.0306832 0.928908 1.7191 
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 

0.643780 1.603780
