extrinsic
0.678921 0.0358694 -0.733335 0.283221 
-0.0109384 0.999189 0.0387463 0.0809956 
0.73413 -0.0182842 0.678763 1.39229 
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 

0.378696 1.338696
