Camera calibration for fisheye lense

[crackwitz]

I personally haven’t used “charuco” (“chessboard” aruco) but it sounds like a VERY good idea, since you can just wipe it around and not pay attention to all the points being in view, and still get points in all the corners of the picture… which is unlike the algorithm for regular chessboards and other patterns, which fails if any corner is out of view.