extrinsic
0.306799 -0.82414 0.476096 -321.256 
0.542141 0.562458 0.624278 -396.324 
-0.782277 0.066583 0.619362 263.654 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.3975 66.383625 
0.0 0.0 1.0 

425.0 2.5
