摄像机标定工具箱，caltech的Jean-Yves Bouguet为作者，很经典实用。非线性优化包括麦夸特方法和牛顿法。 -Camera Calibration Toolbox, caltech of Jean-Yves Bouguet for authors, it is classic and practical. Nonlinear optimization, including Marquardt method and Newton method.