extrinsic
0.0604034 -0.87269 0.484524 -315.961 
0.740743 0.364556 0.564268 -371.996 
-0.669067 0.324824 0.66846 233.091 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.3975 66.383625 
0.0 0.0 1.0 

425.0 2.5
