https://blog.youkuaiyun.com/zhangjunhit/article/details/89137958
https://blog.youkuaiyun.com/KYJL888/article/details/72859601
https://docs.opencv.org/3.3.0/dd/d12/tutorial_omnidir_calib_main.html
https://github.com/jiuerbujie/omnidirectional_calibration
https://blog.youkuaiyun.com/liangchunjiang/article/details/84303807
http://www-sop.inria.fr/icare/personnel/Christopher.Mei/ChristopherMeiPhDStudentToolbox.html(matlab)