extrinsic
0.802256 -0.439347 0.404178 -291.419 
0.427993 0.895282 0.123659 -77.0495 
-0.416183 0.073779 0.906283 71.2762 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.9005 
0.0 360.3975 66.383625 
0.0 0.0 1.0 

425.0 2.5
