Abstract—Reliableandaccuratecameracalibrationusuallyrequiresanexpertintuitiontoreliablyconstrainalloftheparametersinthecameramodel.Existingtoolboxesaskuserstocaptureimagesofacalibrationtargetinpositionsoftheirchoosing,afterwhichthemaximum-likelihoodcalibrationiscomputedusingallimagesin