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Camera Tracking
Since there are often multiple possible solutions to the calibration process and a significant amount of error can accumulate, the final step to match moving often involves refining the solution by hand.
This process attempts to derive the motion of the camera by solving the inverse-projection of the 2D paths for the position of the camera.
To explain further: when a point on the surface of a three dimensional object is photographed its position in the 2D frame can be calculated by a 3D projection function.
Exactly how this vector is constructed is not important as long as there is a compatible projection function P.
The projection function transforms the 3D point and strips away the component of depth.
Videos on Youtube : A hole, A car, A simple animation, Moving train
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