In this method, the initialization parameters of camera can be computed from projective matrix and the calibration math model can be derived considering the effect of lens aberration.

• 该方法无需预先给定初始参数,而是根据投影矩阵计算摄像机参数的初始值,结合镜头畸变的标定数学模型,实现通用摄像机标定;