参考: http://blog.sina.com.cn/s/blog_5e3213f30101g2t5.html http://blog.csdn.net/li_007/article/details/5976261 http://blog.sina.com.cn/s/blog_b364631a0101iopy.html http://blog.csdn.net/aptx704610875/article/details/48914043 http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?highlight=calibratecamera http://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html?highlight=calibratecamera http://blog.csdn.net/felix86/article/details/38401447 http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/example5.html http://www.cnblogs.com/lwl2015/archive/2015/04/23/4451038.html 一、图像像素坐标系(u,v)转图像物理坐标系(x,y) 由于(u,v)只能表示像素位于数组中的列数与行数&#