calibration parameters results(camera.cfg)physic meaning?

[haoweix]

my calibrator.launch is ubstable. So I want to use calib tools in matlab to do the calibration. I see there are 5 parameters in the camera.cfg file. I want to know the physic meaning of each parameter.

Thank you in advance!

[liu-zg15]

I think the parameters is fx/image_width, fy/image_height, cx/image_width, cy/image_height, d. fx is focal length in x. fy is focal length in y. cx is camera center in x. cy is camera center in y. d is distortion factor. Hope this will be helpful.