extrinsic
0.997569 0.0355242 -0.059944 0.628845 
-0.0329792 0.998534 0.0429249 0.071766 
0.061381 -0.0408437 0.997278 2.28588 
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 

0.747691 1.707691
