camera Intrinsic and Extrinsic

http://www.360doc.com/content/14/0410/14/10724725_367762569.shtml

https://jingyan.baidu.com/article/c1465413f3da860bfdfc4c49.html

https://jingyan.baidu.com/article/c1465413f3da860bfdfc4c49.html