extrinsic
-0.956552 0.020863 0.290814 0.182272 
0.0237573 0.999697 0.00642477 0.23649 
-0.290592 0.0130546 -0.956758 1.48971 
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 

0.305791 1.265791
