extrinsic
0.481513 -0.753669 0.447357 -308.866 
0.331135 0.629034 0.703325 -434.898 
-0.811477 -0.190525 0.552454 301.313 
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
