extrinsic
0.494519 -0.769118 0.404855 -283.783 
0.0093168 0.470461 0.882371 -533.012 
-0.869117 -0.432578 0.239818 491.404 
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
