Calibration and Reconstruction

• For the 1st fame, put the checkerboard parallel to the
  camera. The left-up corner is (0,0) in the world coordinate. x-axis in
  vertical direction and y-axis in horizontal direction
• Reconstruct frame by frame and choose the mean or median values of the world coordinate. This is Augment 0
• Augment 1: the starting frame is Frame n and we know .
  Find the corresponding calibration frames with the encoder numbers. The
  world coordinate (0,0) is still the same and we don’t need to
  compensate