How to calibrate a 3D camera?

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Hey I’m using a 3D camera (ToF camera). On the internet I didn’t find a clear way to calibrate this camera.

I receive a luminance image and a depth image (radius distance). This is what I have in mind for calibration method:

Put a checkerboard pattern on a table. Now use this pattern to determine the intrinsic and extrinsic parameters: extrinsic: I can use this pattern to create a new base where the checkerboard is the new (x,y)-plane (z=0). intrinsic: the x, y, (z?) values of the squares should be correct now.

Which functions do I need to use to achieve this? Or what is the conventional way to calibrate a ToF-camera?

Thank you.