extrinsic
0.552362 -0.699411 0.453564 -315.215 
0.441148 0.706922 0.552856 -345.334 
-0.707308 -0.105288 0.699021 208.194 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.39625 66.38375 
0.0 0.0 1.0 

425.0 2.5
