extrinsic
-0.0956172 -0.903896 0.416929 -268.918 
0.247582 0.38409 0.889482 -549.69 
-0.964137 0.188274 0.187063 539.553 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.3975 66.383625 
0.0 0.0 1.0 

425.0 2.5
