extrinsic
0.899296 0.0171012 -0.437006 0.755307 
-0.0133045 0.999842 0.0117478 0.0507593 
0.437138 -0.00475064 0.899382 2.79618 
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 

0.932597 1.892597
