extrinsic
0.999412 0.0337331 0.00615072 0.591373 
-0.0341696 0.964797 0.260765 0.44381 
0.00286222 -0.260822 0.965383 1.72896 
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 

0.415879 1.375879
