extrinsic
-0.984567 0.0272645 0.17287 0.313489 
0.0285385 0.999581 0.004888 0.165983 
-0.172664 0.00974602 -0.984933 1.50277 
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 

0.296434 1.256434
