Estimate Homography to do 2D to 3D integration (28): Camera Calibration by using Webcam & Re-setting 3D-2D pairs

I. The frame size is 640x480 providing via the following Webcam:

II. Calibration results (... which shows more stable values with small errors in focal length & location of cx,cy, comparing to the digital camera):

III. Making an output the fx, fy, fz in World coordinates for each pixel in an Kinect image into a .txt file after doing "Depth2World" coordinate system transformation by OpenNI2 function.