How to use lsd_slam with calibration file?

edit

I calibrated my camera using /rosbuild_ws/package_dir$ rosrun camera_calibration camacalibrator.py --size 8x5 --square 0.030 image:=/usb_cam/image_raw --no-service-check command. It wrote on the terminal screen below output :

('D = ', [-0.018886062736404145, 0.26942503786920685, -0.007379703201997424, -0.010431827630318656, 0.0])
('K = ', [1073.8528937019455, 0.0, 235.9957316222547, 0.0, 1074.390849488722, 187.00905237645208, 0.0, 0.0, 1.0])
 ('R = ', [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0])
 (P = ', [1072.824462890625, 0.0, 233.22498772363906, 0.0, 0.0, 1075.8095703125, 185.30739976715995, 0.0, 0.0, 0.0, 1.0, 0.0])
  None
# oST version 5.0 parameters
 [image]

  width
  640

 height
 480

    [narrow_stereo]

    camera matrix
   1073.852894 0.000000 235.995732
   0.000000 1074.390849 187.009052
   0.000000 0.000000 1.000000

     distortion
     -0.018886 0.269425 -0.007380 -0.010432 0.000000

Which ones should I use this information to run rosrun lsd_slam_core live_slam /image:=<yourstreamtopic> _calib:=<calibration_file>? I use ros-indigo.