extrinsic
0.918017 -0.280009 0.280783 -217.69 
-0.0219038 0.671193 0.740959 -441.54 
-0.395935 -0.686363 0.610034 238.638 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.3975 66.383625 
0.0 0.0 1.0 

425.0 2.5
