该方法适用于大场景下的联合标定，利用Autoware等工具捕获不了标定板的情况
- 通过鼠标监听事件手动选取3D，2D点
- 利用OpenCV的PnP求解激光雷达到相机坐标系的外参矩阵
需要修改四个参数
save_path：激光雷达-相机外参存储路径thermal_calib：相机内参路径img_path：图像路径filename：点云路径(txt格式)
注意：内参和外参矩阵都用xml格式进行了存储
详细介绍可以参考我的博客
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手动选取3D-2D点，计算激光雷达-相机的外参矩阵
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