extrinsic
-0.955128 0.0364484 0.293941 0.0311846 
0.0364776 0.99932 -0.00538479 0.129923 
-0.293938 0.00557911 -0.955808 1.51125 
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 

0.321412 1.281412
