Combining Extrinsic and Intrinsic Calibration Parameters

$$\overrightarrow{p'}= K_{[3 \times 3]} \space (^C_W R \space \space \space ^C_W\overrightarrow{t})_{[3 \times 4]} \space ^W\overrightarrow{p}_{[4 \times 1]}$$

$$\overrightarrow{p'}= M \quad ^W\overrightarrow{p}$$

Full camera calibration equation

DOF

5 + 0 + 3 + 3 = 11