extrinsic
0.822029 -0.441841 0.359229 -264.525 
0.14084 0.768992 0.623551 -374.746 
-0.551754 -0.461983 0.694362 197.826 
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
