extrinsic
0.819588 -0.459349 0.342453 -254.736 
0.0484726 0.651146 0.757403 -455.064 
-0.570899 -0.604159 0.555937 281.107 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.3975 66.383875 
0.0 0.0 1.0 

425.0 2.5
