extrinsic
0.311619 -0.853452 0.417749 -285.581 
0.0270351 0.447425 0.893913 -541.214 
-0.949823 -0.267266 0.162499 545.452 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.3975 66.38375 
0.0 0.0 1.0 

425.0 2.5
