1. A processor-implemented method to automatically calibrate a static camera in a vehicle, the method comprising: receiving, by a processor, a captured image file; detecting a plurality of vehicles in the captured image file; inferring a pose associated with each vehicle within the detected plurality of vehicles; inferring a height of the static camera and a tilt of the static camera to a ground plane based on the inferred pose associated with each vehicle within the detected plurality of vehicles and a variation in a projection of a 3D model of each vehicle within the detected plurality of vehicles; determining a 2D projected shape, size, location, direction of travel, and a plurality of features for each vehicle within the detected plurality of vehicles at more than one location in the captured image file based on the inferred height and tilt of the static camera; inferring a plurality of scene geometry associated with the captured image file, wherein the plurality of scene geometry is inferred based on the determined 2D projected shape, size, location, direction of travel, and the plurality of features of each vehicle within the detected plurality of vehicles as projected onto the captured image file; and calibrating the static camera based on the inferred plurality of scene geometry associated with the captured image file.