参考:
https://www.mathworks.com/help/vision/ug/fisheye-calibration-basics.html
Scaramuzza模型:
https://sites.google.com/site/scarabotix/ocamcalib-omnidirectional-camera-calibration-toolbox-for-matlab
这里包含了标定工具箱
world2cam.m
world2cam_fast.m
findinvpoly.m