Dear nvidiateam,
we are trying to refine the transformation from camera pixel coordinates to world coordinates. About this, we have two questions concerning entries in the rigfiles obtained by calibration:

When calibrating a single 60° camera (or at least that is what it seems to us), it may be that the calibration result uses the pinhole camera model. There are distortion values given there, and we wonder how to use them, exactly. Are these the coefficients of the evenorder polynomial model (the k_x in the formula below)?
(x/y]_undist = [x/y]_dist * (1 + k_0 * r² + k_1 * r^4 + …) 
Other cameras yield the socalled f_theta camera model (we figured it is a way to simulate an undistorted image as if it were from an f_theta lens via software). There another set of entries called bw_poly are given. How are these values used, what kind of polynomial are we looking at here? Are we calculating in pixels or meters, in degree or radians?

Where in the calculation pipeline are these rectifications applied? right on the pixel values? after rotation and translation?
Many thanks!