extrinsic
-0.498977 -0.801836 0.328757 -195.245 
0.225006 0.246479 0.942667 -584.044 
-0.836896 0.544341 0.057431 619.986 
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
