相机标定原理

参考： http://blog.sina.com.cn/s/blog_5e3213f30101g2t5.html

     http://blog.youkuaiyun.com/li_007/article/details/5976261

     http://blog.sina.com.cn/s/blog_b364631a0101iopy.html

     http://blog.youkuaiyun.com/aptx704610875/article/details/48914043

           http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?highlight=calibratecamera

    http://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html?highlight=calibratecamera

            http://blog.youkuaiyun.com/felix86/article/details/38401447

            http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html

            http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/example5.html

            http://www.cnblogs.com/lwl2015/archive/2015/04/23/4451038.html

一、图像像素坐标系（u，v）转图像物理坐标系（x，y）