extrinsic
0.896687 -0.343994 0.278606 -215.809 
-0.0689317 0.513197 0.855498 -512.603 
-0.437266 -0.786318 0.436465 345.155 
0.0 0.0 0.0 1.0 

intrinsic
361.54125 0.0 82.9005 
0.0 360.3975 66.38375 
0.0 0.0 1.0 

425.0 2.5
