6. Intrinsic calibration

Intrinsic calibration measures each camera's lens parameters. It is done per camera and only needs redoing if you change the digital zoom or swap to a different camera model — not every session.

Before you start

• Printed charuco board on a rigid mount (equipment), with the measured printed square size.
• In Calibration tab → Charuco Board Config, enter the board dimensions, measured square size and ArUco dictionary. (Save Board Image here is also how you generate the printable board in the first place.)

Record an intrinsics video for each camera

Record the board from a variety of angles and distances, covering different parts of the frame.

🚧 TODO: concrete capture guidance — suggested duration, distance range, board orientations, plus an example clip.

🚧 TODO: document the exact recording procedure for intrinsics videos (recorded from within Go2Kin? which tab?) and where the files end up.

Run the calibration

In Calibration tab → Intrinsic Calibration, browse to each camera's video and click Calibrate. Smart frame selection picks frames for orientation and spatial coverage diversity.

Check and save

Intrinsic quality metrics are stored with the calibration.

🚧 TODO: what counts as a good result (e.g. RMSE threshold) and what to do when it's poor (more coverage, better lighting, re-print board…).

Click Save Calibration when done.