extrinsic
-0.304163 -0.87333 0.380498 -236.771 
0.244298 0.314555 0.917264 -567.94 
-0.920762 0.371953 0.117677 583.523 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.3975 66.384 
0.0 0.0 1.0 

425.0 2.5
