Calibration method and measurement system

A calibration method in which a computer calibrates, using a calibration jig, a measurement apparatus that measures a three-dimensional geometry of a measurement target and includes a plurality of imaging parts that capture the measurement target, the calibration method comprising:

• capturing an upper surface of the calibration jig with a first imaging part such that some elements to be measured, from among a plurality of elements to be measured having a predetermined shape, are included in a field of view and capturing the upper surface of the calibration jig with a second imaging part, which is different from the first imaging part, such that some elements to be measured, which are different from the elements to be measured captured by the first imaging part, are included in a field of view, the plurality of elements to be measured being included in the calibration jig;
• a first identifying of identifying first coordinate positions indicating positions of the plurality of elements to be measured in a first coordinate system based on a field of view of the first imaging part on the basis of a captured image captured by the first imaging part;
• a second identifying of identifying second coordinate positions indicating positions of the plurality of elements to be measured in a second coordinate system based on a field of view of the second imaging part, on the basis of a captured image captured by the second imaging part;
• rotating the calibration jig in a predetermined rotation direction;
• repeating the imaging, the first identifying, the second identifying, and the rotating until the calibration jig is rotated by a predetermined angle or more in the predetermined rotation direction;
• and
• identifying a rotation matrix for rotating the first coordinate positions or the second coordinate positions to perform a coordinate transformation and a translation vector for translating the first coordinate positions or the second coordinate positions such that the first coordinate positions and the second coordinate positions of the same element to be measured correspond to each other.