extrinsic
0.937175 0.017283 -0.348432 0.974821 
-0.0100732 0.999696 0.0224932 0.0699488 
0.348715 -0.0175702 0.937064 2.88132 
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 

1.000560 1.960560
