基于kinect相机获取的图片，通过改程序可以对3D点对2D点进行匹配，从而确定相机参数是否正确，同时还可以获取图像的视觉里程。-Based kinect camera to get a picture, you can change the program through point-to-2D point on the 3D match to determine the camera parameters are correct, but also can get a visual image of the mileage.