extrinsic
0.657053 -0.653052 0.37657 -271.186 
-0.012964 0.48967 0.871811 -525.226 
-0.753733 -0.577708 0.313273 438.564 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900375 
0.0 360.3975 66.38375 
0.0 0.0 1.0 

425.0 2.5
