https://blog.csdn.net/jessecw79/article/details/82945918(主要)
https://www.jianshu.com/p/312cc524b8d1
https://www.cnblogs.com/shang-slam/p/6481344.html
https://blog.csdn.net/u010821666/article/details/80738359
https://cvlab.epfl.ch/software/multi-view-stereo/epnp/(代码)
https://blog.csdn.net/app_12062011/article/category/6269593 相机姿态估计