Estimate Homography to do 2D to 3D integration (16)

I. Testing sequence:

II. Testing results in tform:

     1.

     2.

     3.

     4.

III. Issues need to be modified:

      Because using 'bwlabel()' this function, a clear boundary between the red circle and the black background can be an important factor of how well 'bwlabel()' works. While using current marker may lead to some problem just like the following:

      In order to make sure the black background is big enough for pointing out those red circles, I decide to make the following modification:

      Then this way is capable to cope with the issue of unclear boundary: