鱼眼相机参数： DIM=(1280, 1024) K=np.array([[638.9557305172929, 0.0, 614.943588910336], [0.0, 639.0066197560882, 476.3633220329366], [0.0, 0.0, 1.0]]) D=np.array([[0.056440223661496466], [-1.0260177937666974], [3.3483220731005106], [-3.7488277951577116]])