extrinsic
-0.423489 -0.825912 0.372193 -225.325 
0.412636 0.189891 0.890883 -561.382 
-0.806467 0.530859 0.260384 493.822 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.9005 
0.0 360.3975 66.38375 
0.0 0.0 1.0 

425.0 2.5
