extrinsic
0.754619 -0.517724 0.403127 -289.941 
0.29984 0.818552 0.489968 -298.342 
-0.583649 -0.248866 0.77293 154.683 
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
