camera_matrix 叫做相机内参
distortion_coefficients 叫做相机畸变参数
https://blog.csdn.net/LiKouSanYou/article/details/79358056
https://blog.csdn.net/weixin_43206570/article/details/84797361
https://zhuanlan.zhihu.com/p/144307108
https://blog.csdn.net/qq_35239859/article/details/86151058