Known parameters:
-----------------
(u0,v0)         = (320.00,240.00)
(alphaU,alphaV) = (652.17,652.17)
s               = 0.0
T*              = (0.0,0.0,1048.81)
R*              = (-0.768221, 0.640184, 0.000000)
                  ( 0.427274, 0.512729,-0.744678)
                  (-0.476731,-0.572078,-0.667424)