extrinsic
-0.469654 -0.824722 0.315055 -188.129 
0.0429158 0.335112 0.9412 -572.947 
-0.881807 0.455559 -0.121993 730.503 
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
