ESTIMATE_CAMERA estimates the camera parameters. This performs the direct linear transform (DLT) given the set of image points x with respect to the corresponding 3D points X. In addition, RANSAC alrogithm is used to robustly estimate the camera, followed by the non-linear refinement step. x ~ K [ R | T ] X input: x = image points (3xn in image plane) X = 3d points (4xn) Options: 'K', K - calibration parameters (4x1) or matrix (3x3) output: K - intrinsic camera parameters (4x1) T - extrinsic camera parameter (translation) (3x1) Omega - extrinsic camera parameter (rotation) (3x1) inlier - inliers among image points