extrinsic
0.685912 -0.58166 0.437261 -308.961 
0.466624 0.812662 0.349059 -219.385 
-0.558379 -0.035388 0.828831 123.151 
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
