extrinsic
-0.595105 -0.724432 0.34792 -201.272 
0.631127 -0.153269 0.760386 -496.938 
-0.497523 0.672091 0.54842 305.637 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.9005 
0.0 360.3975 66.383875 
0.0 0.0 1.0 

425.0 2.5
