Usage: P = calibrate(pts3d, pts2d)

pts3d   - target 3d points in space [Nx3]
pts2d   - target 2d poitns in image [Nx2]
P       - 3x4 camera matrix

Perform camera calibration on synthetic data

Changeable parameters:

theta   - rotation angle of the camera [Default: random between -pi and pi]
axis    - rotation axis [Default: ramdom axis in 3d space]
f       - focal length of the camera [Default: 500mm]
bias    - biases of camera center in both x and y axis of the camera plane[Default: 0, 0]

Perform camera calibration using images taken on 3d calibration grid

1. Choose target 3d points (coordinate convention explained in the picture shown below)
2. Write all target 3d points in a txt file (e.g. pts3d.txt)
3. Run the script and choose corresponding 2d points in the image by clicking them in the exact order as the 3d points