extrinsic
0.974028 -0.0871273 0.208995 -171.901 
-0.0960942 0.676703 0.729958 -431.626 
-0.205027 -0.731082 0.650755 204.397 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900875 
0.0 360.3975 66.38375 
0.0 0.0 1.0 

425.0 2.5
