extrinsic
0.962956 -0.165149 0.213172 -174.812 
-0.0997157 0.516409 0.850517 -508.359 
-0.250546 -0.840266 0.480811 308.732 
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
