extrinsic
0.264733 -0.847168 0.460677 -309.358 
0.392519 0.531021 0.750963 -468.705 
-0.880821 -0.01798 0.473108 356.303 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900375 
0.0 360.3975 66.38375 
0.0 0.0 1.0 

425.0 2.5
