Bibliography & references

The tools and literature behind realtime-calib.

Software & tools

• Caliscope — the conceptual reference for the calibration logic (board definitions, ChArUco calibration, PnP/stereo extrinsics, bundle adjustment). BSD-2-Clause. github.com/mprib/caliscope
• OpenCV — camera calibration, ArUco/ChArUco (CharucoDetector, OpenCV ≥ 4.8). docs.opencv.org
• SciPy — scipy.optimize.least_squares for bundle adjustment. scipy.org
• LiveKit — real-time transport for camera streams and overlays. livekit.io

For the peer-reviewed literature behind the method and the capture recommendations, see Calibration best practices.