利用相机拍摄标定板的多方位视角，然后运行calibration.py进行内参标定
找到至少6组像素坐标与真实物理坐标对，然后运行pnp.py反解相机外参
测量摄像头的俯仰角、方位角和旋转角，运行rotation.py计算外参中的旋转矩阵和平移向量
将内参和外参设置好，在ptw.py中输入像素坐标，可得到世界坐标
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