相机内参外参

http://ww.cvlibs.net/publications/Geiger2013IJRR.pdf
https://www.mathworks.com/matlabcentral/answers/270513-how-to-use-calibration-parameters-from-kitti

https://stackoverflow.com/questions/29407474/how-to-understand-kitti-camera-calibration-files

https://blog.csdn.net/yangziluomu/article/details/78339575

https://www.cnblogs.com/Jessica-jie/p/6596450.html

https://blog.csdn.net/qq_33801763/article/details/78959205

https://blog.csdn.net/qq_33801763/article/details/77033064