extrinsic
-0.237868 -0.869972 0.431935 -271.044 
0.599803 0.218212 0.769818 -494.295 
-0.763974 0.442191 0.469906 361.453 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.39625 66.383875 
0.0 0.0 1.0 

425.0 2.5
