OpenGL与OpenCL是何关系?
https://blog.csdn.net/mangobar/article/details/51006521
期望、方差、协方差和协方差矩阵
https://blog.csdn.net/qq_23869697/article/details/80610361
相机对焦原理
http://m.sohu.com/a/203835985_813324
最详细、最完整的相机标定讲解
https://blog.csdn.net/qq_15295565/article/details/95857385