extrinsic
0.117155 -0.892023 0.436544 -290.07 
0.234138 0.451989 0.860747 -530.293 
-0.965119 0.00137 0.261809 490.255 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.39625 66.383875 
0.0 0.0 1.0 

425.0 2.5
