extrinsic
-0.981085 0.025524 0.191887 0.301597 
0.0277464 0.999575 0.00890346 0.18794 
-0.191578 0.0140592 -0.981377 1.49756 
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 

0.294858 1.254858
