extrinsic
-0.623237 -0.719898 0.305486 -174.149 
0.360876 0.0818053 0.929019 -584.541 
-0.69379 0.689242 0.20881 523.429 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.39625 66.383625 
0.0 0.0 1.0 

425.0 2.5
