extrinsic
0.793904 -0.508312 0.333669 -248.757 
-0.0396616 0.504299 0.862618 -518.283 
-0.606748 -0.69807 0.380205 388.963 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.900625 
0.0 360.39625 66.383625 
0.0 0.0 1.0 

425.0 2.5
