extrinsic
0.971019 -0.0434896 0.235013 -187.18 
-0.0586078 0.909956 0.410542 -232.097 
-0.231706 -0.412418 0.881036 69.7912 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900875 
0.0 360.39625 66.383625 
0.0 0.0 1.0 

425.0 2.5
