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Camera calibration

Two one-time steps unlock 3D pose: (1) intrinsic — display the ChArUco board on a tablet and wave it in front of the camera from different angles, then (2) extrinsic — tape four marker cards to the floor corners. After both, every detected marker reports world XYZ + yaw/pitch/roll, and /track3d shows the scene in metres.

Step 1 — Intrinsic calibration (ChArUco board)

Scan with a tablet → board fills the screen → wave in front of camera.

or open directly

1. Scan the QR on a tablet (or phone in landscape)
2. The board fills the screen — keep it flat and bright
3. Press Start capture below, then slowly tilt/rotate
the tablet so the camera sees ≥ 20 distinct angles
4. Press Compute calibration

Step 2 — Extrinsic from four floor-corner markers

Scan with a tablet → fullscreen four corner markers → tap to enlarge any one.

or open directly

Reserved corner ids (top of dictionary)

Three placement options:

1. Scan the QR with a tablet → tap each corner → lay the tablet at that floor corner.
2. Use four phones, one per corner — each one taps its corner to enlarge.
3. Print the sheet and tape the markers to the floor.

Download print sheet (PDF)