extrinsic
0.116326 -0.902577 0.414515 -276.229 
0.0398157 0.42125 0.90607 -549.583 
-0.992413 -0.088895 0.084939 598.23 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.39625 66.383875 
0.0 0.0 1.0 

425.0 2.5
