Known parameters:
-----------------
(u0,v0)         = (320.00,240.00)
(alphaU,alphaV) = (1304.35,1304.35)
s               = 0.0

image1:
T*              = (-89.44,-200.00,849.71)
R*              = (-0.447214, 0.894427, 0.000000)
                = ( 0.666667, 0.333333,-0.666667)
                = (-0.596285,-0.298142,-0.745356)

image2:
T*              = (-40.00,-174.91,858.96)
R*              = (-0.600000,0.800000,0.000000)
                = (0.499756,0.374817,-0.780869)
                = (-0.624695,-0.468521,-0.624695)

image3:
T*              = (-145.52,-199.89,865.37)
R*              = (-0.242536,0.970143,0.000000)
                = (0.799556,0.199889,-0.566352)
                = (-0.549442,-0.137361,-0.824163)