calib_time: 25-May-2012 16:47:16
R: 9.999976e-01 7.553071e-04 -2.035826e-03 -7.854027e-04 9.998898e-01 -1.482298e-02 2.024406e-03 1.482454e-02 9.998881e-01
T: -8.086759e-01 3.195559e-01 -7.997231e-01
