I am looking for a quick way to do AR (augmented reality). I think the correct term is camera matching.
Given a photograph which contains several squares of a known size, and several 3D models, I would like to compute the position and orientation in 3D of the camera and the objects so that the models render with a correct perspective with respect to the perspective of the image. If this can't be done inside a single software, two different softwares are acceptable.
So i'm looking for a way to detect the features in the original image (can be done by hand if needed), to calibrate the camera and compute the projection matrix, and to place the objects in 3D, and then render the scene.
Here is a sample photo showing some actual data, and the kind of result I'm looking for: