extrinsic
0.423494 -0.76086 0.491676 -334.56 
0.749176 0.599292 0.282107 -194.157 
-0.509301 0.248881 0.823815 129.344 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.3975 66.38375 
0.0 0.0 1.0 

425.0 2.5
