extrinsic
-0.636298 -0.727666 0.25618 -143.534 
0.0315712 0.307237 0.951109 -579.42 
-0.770797 0.613276 -0.172521 759.831 
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
