1. A calibration system, comprising: a calibration apparatus comprising a plurality of light sources, wherein the plurality of light sources is arranged on a surface of the calibration apparatus, wherein the surface includes a plurality of differently arranged planes; and a computing system communicatively coupled to the light sources, the computing system comprising a calibration module configured to: selectively control the plurality of light sources to determine 3D to 2D correspondences relating 3D physical locations of the plurality of light sources in space to locations in a 2D image captured by a camera, and determine intrinsic properties of the camera using the 3D to 2D correspondences.