extrinsic
-0.956068 0.0129416 0.29286 0.207499 
0.0157708 0.999849 0.00730155 0.289312 
-0.292721 0.0115994 -0.956128 1.49929 
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 

0.311102 1.271102
