extrinsic
-0.493863 -0.787644 0.368397 -219.292 
0.549911 0.0452743 0.833995 -534.556 
-0.67357 0.614465 0.410775 396.976 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.9005 
0.0 360.3975 66.383875 
0.0 0.0 1.0 

425.0 2.5
