Intrinsic parameters:
Image center: u0 = 262.475952, v0 = 268.070984
Scale factor: 
au = 997.765564, av = 1425.124756
Image size: dimx = 512, dimy = 512
Focale: 1.0
Extrinsic parameters:
Rotation:
{{0.589278, -0.127232, 0.797849},
 {-0.030665, 0.983289, 0.179453},
 {-0.807348, -0.130214, 0.575529}}
Translation:
{-694.732178, -35.892017, -778.107849}