It's not only to calculate the position of the cameras (x,y,z) but also the additional DoF of the lens orientation (roll,pitch,yaw). Any set of eight points wou

It's not only to calculate the position of the cameras (x,y,z) but also the additional DoF of the lens orientation (roll,pitch,yaw). Any set of eight points would work, but a checkerboard provides a nice surface with a known geometry. The checkerboard is also handy for correcting lens aberration. Here is the standard algorithm: http://en.wikipedia.org/wiki/Eight-point_algorithm http://en.wikipedia.org/wiki/Eight-point_algorithm