space = 5;  % The distance from one line to the next, in our calibration grid, is 5 cm.
rigN = 10;  % We have a 10*10*10 grid.
[A2,A1] = meshgrid(0:space:space*rigN,space:space:space*rigN);
A1 = im2col(A1,[1,1]);
A2 = im2col(A2,[1,1]);
A3 = zeros(1,rigN*(rigN+1));
I = ones(1,rigN*(rigN+1));
objectpoints1 = [A1; A2; A3; I]; % Object points on one plane of the grid.
objectpoints2 = [A3; A1; A2; I];
objectpoints3 = [A2; A3; A1; I];
orig = [0 0 0 1]';
% All corner points on the grid as in defined world coordinate system.
AllObjectPoints = [objectpoints1 objectpoints2 objectpoints3 orig]; 

% Example corner points to be used in calibration.
P =[
        0     0     0     0     5    45     5    45     5    45     5    45;
       45    45     5     5    45    45     5     5     0     0     0     0;
       45     5    45     5     0     0     0     0     5     5    45    45;
        1     1     1     1     1     1     1     1     1     1     1     1 ];