extrinsic
0.926024 -0.241782 0.289862 -222.458 
0.0229714 0.802595 0.596082 -352.134 
-0.376764 -0.545328 0.748777 155.156 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.39625 66.383625 
0.0 0.0 1.0 

425.0 2.5
