extrinsic
0.970263 0.00747983 0.241939 -191.02 
-0.0147429 0.999493 0.0282234 3.28832 
-0.241605 -0.030951 0.969881 22.5401 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.3975 66.383875 
0.0 0.0 1.0 

425.0 2.5
