extrinsic
0.323759 -0.838178 0.438906 -299.529 
0.205883 0.515187 0.831982 -510.277 
-0.923468 -0.178998 0.339363 437.39 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.9005 
0.0 360.39625 66.38375 
0.0 0.0 1.0 

425.0 2.5
