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How do you calibrate the extrinsic parameters?

I was trying to calibrate my camera mounted on the robot base so that I can get the transform from base_link to camera_link. i was looking for efficient and fast ways to do this and I found the following calibration algorithm which was useful because I could fix my pattern on the robot base directly and use a mirror to make it visible to the camera.

After doing some tests with that, the results were totally wrong. I also tested with a webcam mounted on my pc and I couldn't get good results.

How do the ROS community proceed with the extrinsic calibration of a monocular camera?