Estimate Homography to do 2D to 3D integration (25): Using Pro-Camera-Calibration toolbox

I. Making 3 modifications in order to let the EPnP code works:

   1. Using the more manual toolbox for doing the process of camera calibration
       (homepage, steps, explanation)

   2. Calibration results for Kinect camera:

   3. Calibration results for Hand-held camera (with 12mm lens):