extrinsic
0.697012 0.0346257 0.716223 1.39434 
-0.132964 0.987752 0.0816452 0.0918058 
-0.704624 -0.15214 0.693079 1.30476 
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 

0.735849 1.695849
