A method of generating a camera model, the method comprising: (a) using a robotic assembly to move a calibration assembly relative to a camera assembly, or to move the camera assembly relative to the calibration assembly, through a predetermined series of poses, wherein the calibration assembly comprises: a calibration target; and first, second, and third calibration assembly markers (614a-c) coupled to the calibration target at respective positions, wherein the camera assembly comprises: a mount; a camera coupled to the mount at a respective location and having a field of view; and first, second, and third camera assembly markers (626a-c) coupled to the mount at respective positions, and wherein the predetermined series of poses, together, cause the calibration target to pass through at least a portion of the FOV of the camera; (b) using the camera, at each pose of the predetermined series of poses, to generate a respective image of the calibration target; (c) using a tracker, at each pose of the predetermined series of poses, to determine respective locations in space of the first, second, and third calibration assembly markers (614a-c) and respective locations in space of the first, second, and third camera assembly markers (626a-c); (d) for each respective image, generating a transformation function that maps onto a three-dimensional object space (i) stored coordinates of the first, second, and third calibration assembly markers (614a-c), (ii) stored coordinates of the first, second, and third camera assembly markers (626a-c), (iii) the determined locations in space, for that image, of the first, second, and third calibration assembly markers (614a-c), (iv) the determined locations in space, for that image, of the first, second, and third camera assembly markers (626a-c), and (v) features of the calibration target within the respective image; and (e) using the transformation functions for the respective images to generate a model of extrinsic parameters and intrinsic parameters of the camera. (a) using a robotic assembly to move a calibration assembly relative to a camera assembly, or to move the camera assembly relative to the calibration assembly, through a predetermined series of poses, wherein the calibration assembly comprises: a calibration target; and first, second, and third calibration assembly markers (614a-c) coupled to the calibration target at respective positions, wherein the camera assembly comprises: a mount; a camera coupled to the mount at a respective location and having a field of view; and first, second, and third camera assembly markers (626a-c) coupled to the mount at respective positions, and wherein the predetermined series of poses, together, cause the calibration target to pass through at least a portion of the FOV of the camera; a calibration target; and first, second, and third calibration assembly markers (614a-c) coupled to the calibration target at respective positions, wherein the camera assembly comprises: a mount; a camera coupled to the mount at a respective location and having a field of view; and first, second, and third camera assembly markers (626a-c) coupled to the mount at respective positions, and wherein the predetermined series of poses, together, cause the calibration target to pass through at least a portion of the FOV of the camera; a mount; a camera coupled to the mount at a respective location and having a field of view; and first, second, and third camera assembly markers (626a-c) coupled to the mount at respective positions, and wherein the predetermined series of poses, together, cause the calibration target to pass through at least a portion of the FOV of the camera; (b) using the camera, at each pose of the predetermined series of poses, to generate a respective image of the calibration target; (c) using a tracker, at each pose of the predetermined series of poses, to determine respective locations in space of the first, second, and third calibration assembly markers (614a-c) and respective locations in space of the first, second, and third camera assembly markers (626a-c); (d) for each respective image, generating a transformation function that maps onto a three-dimensional object space (i) stored coordinates of the first, second, and third calibration assembly markers (614a-c), (ii) stored coordinates of the first, second, and third camera assembly markers (626a-c), (iii) the determined locations in space, for that image, of the first, second, and third calibration assembly markers (614a-c), (iv) the determined locations in space, for that image, of the first, second, and third camera assembly markers (626a-c), and (v) features of the calibration target within the respective image; and (e) using the transformation functions for the respective images to generate a model of extrinsic parameters and intrinsic parameters of the camera.