Understanding of CameraParameters?

[deepConnectionism]

code：

libSGM/sample/stereosgm_reprojection.cpp

Line 29 in e4c669b

struct CameraParameters

	float fu;                 //!< focal length x (pixel)
	float fv;                 //!< focal length y (pixel)
	float u0;                 //!< principal point x (pixel)
	float v0;                 //!< principal point y (pixel)
	float baseline;           //!< baseline (meter)
	float height;             //!< height position (meter), ignored when ROAD_ESTIMATION_AUTO
	float tilt;               //!< tilt angle (radian), ignored when ROAD_ESTIMATION_AUTO

first:
float fu; //!< focal length x (pixel)
float fv; //!< focal length y (pixel)

fu should be equal to fv, which is the focal length after the stereo unite. u0 and v0 are also.

In addition, I don't know the role of height and tilt. Height is not used. What is the use of height? Tilt seems to be used for the tilt of the camera, but my camera is moving. Does this need to be changed in real time? I need to modify this value in real time with the camera's posture.