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Camera Calibration
OpenCV
This approach is based on the opencv documentation for camera calibration in the following link. The repository in the following link 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. The height and width of the chessboard which needs to be specified is not the height and width of the chessboard in squares but rather the heigth and width of the inner corners (points between squares). For example a normal chessboard is 8 by 8 if you count the squares but if we count the innder corners it is 7 by 7 so we would supply 7 by 7 to the function.
A chessboard to print can be generated by your own code or from the already implemented function here.