http://wiki.ros.org/openni_launch/Tutorials/IntrinsicCalibration
http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration
https://blog.csdn.net/heyijia0327/article/details/43538695
相机的内参外参标定
原文：https://www.cnblogs.com/nku-wangfeng/p/9966855.html
