- camera calibration = estimating instrinsics K (pinhole camera) (camera parameters) by measuring
- real world points X in world space
- same points in pixel space
- solving for K[R|t] using singular value decomposition (SVD) after posing problem as
- where p = camera params
- A is from mapping to
- pose estimation: estimating extrinsics [R | T]
see camera intrinsics and extrinsics
can use vanishing points to estimate calibration