1. A method programmed in a non-transitory memory of a device comprising: a. calibrating the device using a first distance between a second nodal point and an image sensor; and b. calibrating the device using a second distance between a first nodal point and the second nodal point, wherein calibrating the device includes moving one or more lenses based on the second nodal point and the image sensor, wherein calibrating further comprises utilizing a distance relationship, where there is a same object position but different lens settings, wherein calibrating further comprises utilizing a magnification factor, a distance to an object, and calibration information, wherein the magnification factor is calculated using a checkerboard object at a certain distance and taking pictures with the different lens settings, and the magnification factor is calculated by measuring distances between circle centers in the checkerboard object, wherein measuring the distances between the circle centers includes cropping out a patch that contains a circle, the patch is convolved with itself, a position of the maximal convolution result is determined, and a distance between the circle centers is measured.