What is each parameter of calib_results.txt pointing to? about multicol-slam

[brightsys]

I was able to solve it self.
Please point out if there is an error.

I will use the above-mentioned calib_results.txt.

· Camera.nrpol / Camea.nrinvpol (hyperparameters)
#polynomial coefficients for the DIRECT mapping function (ocam_model.ss in MATLAB). These are used by cam2world
5 -1.124087e+01 0.000000e+00 1.084859e-04 -9.160804e-07 2.898989e-09

#polynomial coefficients for the inverse mapping function (ocam_model.invpol in MATLAB). These are used by world2cam
1574 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000

We use the first number of each.
Camera.nrpol = 5
Camea.nrinvpol = 1574 0.000000

· Camera.pol 0 to Camera.pol 11 (backward polynomial rho (theta))

polynomial coefficients for the inverse mapping function ~

Use the values ​​after the beginning
Camera.pol 0 = 0.000000
Camera.pol 1 = 0.000000
Camera.pol 2 = 0.000000
Camera.pol 3 = 0.000000
(abridgement)

· Camera.u 0 / Camera.v 0 (principal point)
#center: "row" and "column", starting from 0 (C convention)
383.000000 511.000000
↑ + 1.0
Camera.u 0 = 512.000000
Camera.v 0 = 384.000000