相机内参到opengl投影的转化

https://wenku.baidu.com/view/fa99f3f1ba0d4a7302763a79.html 

https://blog.csdn.net/yanglusheng/article/details/52268234

https://blog.csdn.net/wangdingqiaoit/article/details/51589825

https://www.cnblogs.com/guopinghai/p/9821327.html