extrinsic
0.515469 -0.744911 0.423556 -296.549 
0.164999 0.571316 0.803973 -490.314 
-0.840873 -0.344537 0.417405 382.793 
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
