1.分类
Photogrammetric calibration：Camera calibration is performed by observing a calibration object whose geometry in 3-D space is known with very good precision.
Self-calibration:Techniques in this category do not use any calibration object.
2.符号定义
求解H矩阵
3.Closed-form solution
内参：
外参：
4.Maximum likelihood estimation
which is solved with the Levenberg-Marquardt Algorithm；
5.Dealing with radial distortion
求解旋转矩阵：
