Projector-Camera Calibration - the "easy" way

First let me open by saying projector-camera calibration is NOT EASY. But it's technically not complicated too.

It is however, an amalgamation of optimizations that accrue and accumulate error with each step, so that the end product is not far from a random guess.
So 3D reconstructions I was able to get from my calibrated pro-cam were just a distorted mess of points.

Nevertheless, here come the deets.
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