MultiCol-SLAM鱼眼相机的相机模型
%YAML:1.0# Camera Parameters. Adjust them!# Camera calibration parameters camera backCamera.Iw: 754Camera.Ih: 480# hyperparametersCamera.nrpol: 5Camera.nrinvpol: 12# forward polynomial f(\rho)Camera.a0: -209.200757992065Camera.a1: 0.0 Camera.
