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Camera Calibration
OpenCV
This approach is based on the opencv documentation for camera calibration in the following link https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html The repository in the following link https://git.cs.lth.se/robotlab/camera_calibration implements camera calibration with as well as picture taking with realsense cameras.
The code for camera calibration expects images of checkerboards taken with the camera for which we need to compute the instrinsic camera parameters. The size of the checkerboard needs to be supplied since the opencv function findChessboardCorners needs to know how many points it is looking for and the entire chessboard needs to be visible in every image.