extrinsic
-0.975703 -0.00285815 0.219078 0.386336 
0.00305495 0.99964 0.0266473 0.298089 
-0.219076 0.0266691 -0.975343 1.44255 
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 

0.270284 1.230284
