http://sourishghosh.com/2016/dense-disparity-maps-orb-descriptors/
code https://github.com/sourishg/disparity-map
http://sourishghosh.com/2016/stereo-calibration-cpp-opencv/
code https://github.com/sourishg/stereo-calibration/
单目校正
https://www.theeminentcodfish.com/gopro-calibration/