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how many images for camera calibration?

Hi, I finally manged to get camera calibration working with relatively reliable results (using a set of 10 standard chessboard images). However the choice of the orientation of the chess board seems rather ad hoc. Does anyone in this forum know of a minimal set of standard orientations (e.g. n=(0, 0, 1), (0, -1, 1), (-1, 0,1) ...) which would result in a stable camera calibration? In a controlled environment this ought be possible? In the provided examples it seems like people hold the board in front of the camera and hope for the best.

Thank you