Intrinsic parameters:
Image center: u0 = 223.894424, v0 = 282.252075
Scale factor: 
au = 963.594727, av = 1382.027466
Image size: dimx = 512, dimy = 512
Focale: 1.0
Extrinsic parameters:
Rotation:
{{0.670717, -0.015955, 0.741542},
 {-0.012746, 0.999373, 0.033031},
 {-0.741604, -0.031606, 0.670093}}
Translation:
{-900.015503, 146.275742, -900.394897}