extrinsic
-0.972278 0.032002 0.231626 0.191001 
0.0320025 0.999481 -0.0037562 0.15215 
-0.231626 0.00376052 -0.972798 1.52209 
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 

0.341131 1.301131
