more details please see below:
针孔相机标定-基于张正友标定法
https://blog.csdn.net/qq_42258099/article/details/95232228
鱼眼相机标定-基于张正友标定法
https://blog.csdn.net/qq_42258099/article/details/95241443
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Camera_calibration for fisheye and pinhole
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