extrinsic
-0.283876 -0.887829 0.36218 -225.915 
0.0485155 0.363936 0.93016 -566.014 
-0.957633 0.281621 -0.060239 692.669 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.3975 66.383875 
0.0 0.0 1.0 

425.0 2.5
