extrinsic
0.671673 -0.615308 0.412615 -294.21 
0.24538 0.710283 0.659762 -402.82 
-0.699031 -0.341897 0.628062 247.354 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.3975 66.384 
0.0 0.0 1.0 

425.0 2.5
