extrinsic
0.972469 0.033411 -0.230625 0.700011 
-0.022066 0.998424 0.0515983 0.112715 
0.231986 -0.0450888 0.971674 2.9159 
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 

1.028330 1.988330
