extrinsic
-0.200239 -0.884322 0.421757 -266.547 
0.435843 0.305135 0.846719 -533.19 
-0.877465 0.353366 0.324326 454.406 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.3975 66.38375 
0.0 0.0 1.0 

425.0 2.5
