1-finding keypoints with ORB/FAST algorithm
2-calculating descriptor with ORB/BRIEF algorithm
3-matching keypoints with FLANN algorithm
1-consider (6,9) corner points of chessboard with 3d points
2-find corners points of chessboard in image
3-calculate intrinsic matrix : focal length, ox, oy
4-calculate distortion parameters : (k1, k2, p1, p2, k3)