extrinsic
-0.0692899 -0.873705 0.481496 -309.024 
0.865944 0.186968 0.463879 -318.429 
-0.495318 0.449091 0.743625 181.594 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.9005 
0.0 360.39625 66.38375 
0.0 0.0 1.0 

425.0 2.5
