extrinsic
0.0354862 -0.882402 0.469155 -306.044 
0.596775 0.395271 0.698299 -447.169 
-0.801624 0.2552 0.540622 316.203 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.39625 66.384 
0.0 0.0 1.0 

425.0 2.5
