extrinsic
-0.546287 -0.748747 0.375431 -220.056 
0.748136 -0.234625 0.62068 -417.088 
-0.376647 0.619943 0.688337 213.217 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.3975 66.383875 
0.0 0.0 1.0 

425.0 2.5
