extrinsic
0.897991 -0.293325 0.327984 -246.046 
0.128808 0.887978 0.441479 -259.624 
-0.420739 -0.354197 0.835179 107.331 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.39625 66.383625 
0.0 0.0 1.0 

425.0 2.5
