Relative range camera calibration

A method of calibrating a first and a second range camera, comprising:

• acquiring data by using the first and the second range cameras to capture a path of a moving object in a scene;
• applying a time offset value to the acquired data to obtain synchronized data;
• and
• calculating transformation parameters from the synchronized data that calibrate the first and the second range cameras, such that the transformation parameters can take a point on the object path measured by the first camera and convert it to a point as it would be seen from the second camera.

A method of synchronizing in time a first range camera and a second range camera, comprising:

• using a first computing device having a first clock to sample data captured by the first range camera;
• using a second computing device having a second clock to sample data captured by the second range camera;
• determining that the first and second clocks are unsynchronized by a constant time offset;
• and
• adding the time offset to the data captured by the first range camera and the data captured by the second range camera to synchronize the first and second range cameras.