extrinsic
-0.967506 0.00489986 0.252801 0.285988 
0.00873609 0.999863 0.0140546 0.326236 
-0.252698 0.0158064 -0.967416 1.47128 
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 

0.291478 1.251478
