extrinsic
0.0333426 -0.891497 0.451799 -295.083 
0.428953 0.421062 0.799191 -501.735 
-0.902711 0.167153 0.396449 407.882 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.3975 66.383625 
0.0 0.0 1.0 

425.0 2.5
