1蛇受、相機標(biāo)定（camera resectioning or camera calibration）
Camera resectioning is the process of estimating the parameters of a pinhole camera model approximating the camera that produced a given photograph or video. Usually, the pinhole camera parameters are represented in a 3 × 4 matrix called the camera matrix.
2、四個坐標(biāo)系之間的轉(zhuǎn)換
將各式綜合的結(jié)果
右邊前兩項的乘積稱作內(nèi)參矩陣
內(nèi)參矩陣
而外參矩陣則由旋轉(zhuǎn)矩陣R（3×3）和平移向量T（3×1）組成
外參矩陣
右邊可以表示為
