extrinsic
0.604647 0.00543639 -0.796475 0.299663 
-0.0307654 0.99939 -0.0165343 -0.0880558 
0.795899 0.0345013 0.604446 2.3287 
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 

0.668129 1.628129
