影射变换
https://www.cnblogs.com/wangguchangqing/p/8126333.html
SLAM入门之视觉里程计(2):相机模型(内参数,外参数)
从世界坐标系到相机坐标系(3D物体到2D图像的转变)
http://blog.sina.com.cn/s/blog_8c388a3a0101dd15.html
https://blog.csdn.net/xueluowutong/article/details/80950915?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.nonecase&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.nonecase