extrinsic
0.999125 0.0240267 0.0342415 0.438536 
-0.0278002 0.993049 0.114369 0.185312 
-0.0312556 -0.115221 0.992848 2.15058 
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 

0.733484 1.693484
