摄像机distortion vector、project matrix、camera matrix

关于标定后图像如何校订：http://wiki.ros.org/image_pipeline/CameraInfo

ros distortion vector 参数顺序：http://docs.ros.org/diamondback/api/sensor_msgs/html/CameraInfo_8h_source.html看注释

http://docs.ros.org/jade/api/sensor_msgs/html/msg/CameraInfo.html