extrinsic
0.683226 -0.616783 0.390871 -281.532 
0.111884 0.617393 0.778658 -471.613 
-0.721584 -0.488267 0.490827 329.907 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.3975 66.38375 
0.0 0.0 1.0 

425.0 2.5
