extrinsic
-0.533287 0.0664868 0.843318 -0.32998 
0.0142984 0.997473 -0.0695984 -0.00133093 
-0.845814 -0.0250578 -0.532889 1.54127 
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 

0.323825 1.283825
