extrinsic
-0.285236 -0.853411 0.436268 -270.978 
0.734683 0.0976421 0.671347 -442.294 
-0.615533 0.512011 0.599136 276.695 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900875 
0.0 360.3975 66.38375 
0.0 0.0 1.0 

425.0 2.5
