extrinsic
0.946343 0.0339631 -0.321375 0.689254 
-0.0183151 0.9985 0.0515905 0.150563 
0.322645 -0.0429362 0.945546 3.06059 
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 

1.077030 2.037030
