extrinsic
0.885052 -0.307962 0.34906 -258.497 
0.220575 0.937798 0.268109 -156.493 
-0.409915 -0.160296 0.897928 71.838 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.3975 66.383875 
0.0 0.0 1.0 

425.0 2.5
