Abstract: A system fits a camera scene to real world scenes. The system receives from an image sensing device an image depicting a scene, a location of the image sensing device in real world coordinates, and locations of a plurality of points in the scene in the real world coordinates. Pixel locations of the plurality of points are determined and recorded. The center of the image is determined, and each pixel in the image is mapped to an angular offset from the center of the image. Vectors are generated. The vectors extend from the image sensing device to the locations of the plurality of points, and the vectors are used to determine a pose of the image sensing device.