http://ww.cvlibs.net/publications/Geiger2013IJRR.pdf
https://www.mathworks.com/matlabcentral/answers/270513-how-to-use-calibration-parameters-from-kitti
https://stackoverflow.com/questions/29407474/how-to-understand-kitti-camera-calibration-files
https://blog.csdn.net/yangziluomu/article/details/78339575
这个博客是一个具体的例子，像蔡就是用的这个数据，我自己的数据和这个有点不一样，他这个是３＊４的，不是３＊３，不过其实差不多
https://www.cnblogs.com/Jessica-jie/p/6596450.html
https://blog.csdn.net/qq_33801763/article/details/78959205
https://blog.csdn.net/qq_33801763/article/details/77033064