Camera parameter estimation

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Hello,

I would like to program a algorithm which estimates the extrinsec parameter. I don't found algorithm which estimate the rotation and the translation. I find easily algorithme to estimate the translation and the intrinsec parameter but I don't know how to find the rotation parameter.

I have this equation which link the XYZ position and the pixel:

u = au * ([r1 r2 r3][X Y Z] + tx) /([r7 r8 r9][X Y Z] + tz)

where the rotation R = [ r1 r2 r3; r4 r5 r6; r7 r8 r9]

Where could I find more information about the resolution of the algorithm?

Best regard.