Estimate Homography to do 2D to 3D integration (12): Extract known points in pairs automatically

I. Introduce the reference toolbox finding yesterday into my current system

   - To combine the process of computing "transformation from Projection coordinate to World coordinate" all in MATLAB
   - Continuously recording a video and compute the transformation mentioned above in every frame
   - Need to check whether or not the "value of depth" is same as what shows in C++ version

II. Complete the modification mentioned above:

    - Do verifications in 3 cases (zoom, tilt, viewpoint_change)

    - Also, increase the number of known points (...as initial pair of points for EPnP) from 12 to 36, which means there are 9 points located in each color marker

     - The result is improve a lot (...should be caused by the increasing number of initial pair of points as well as more accurate segmentation results): 1 to 2 pixel errors in Zoom and Tilt; 1 to 3 pixel errors in Viewpoint_change