extrinsic
-0.0862075 -0.914302 0.395752 -255.306 
0.0474564 0.393011 0.918308 -558.079 
-0.995146 0.097946 0.009509 648.082 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.90075 
0.0 360.3975 66.383625 
0.0 0.0 1.0 

425.0 2.5
