extrinsic
0.399388 -0.778177 0.484696 -328.835 
0.647539 0.613705 0.45173 -294.39 
-0.648986 0.133444 0.749006 179.3 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.3975 66.384 
0.0 0.0 1.0 

425.0 2.5
