A computer-implemented method of calibrating cameras that are arranged to generate at least partly overlapping views (V1-V3) of a scene, said method comprising: obtaining preliminary calibration data of the cameras, said preliminary calibration data representing an arrangement of the cameras in relation to a common coordinate system; obtaining a preliminary pose for an object in the scene, the preliminary pose comprising three-dimensional point locations in the common coordinate system and being calculated based on feature points detected in the views (V1-V3), wherein the object is a live body and the point locations that are included in the pose correspond to joints and/or extremities of the live body; defining an objective function comprising calibration data and pose as unknown variables, the objective function comprising a first function that determines an aggregation of differences between the feature points and the pose as projected onto the at least partly overlapping views (V1-V3) by use of the calibration data, and a second function that determines a quality of the pose; optimizing the objective function as a function of the calibration data and the pose, with starting values for the calibration data and the pose given by the preliminary calibration data and the preliminary pose; and providing the calibration data that results in an optimization of the objective function, characterized in that the second function determines the quality of the pose as a function of relative orientation, in the common coordinate system, between point locations included in the pose, and as a function of relative distance, in the common coordinate system, between the point locations included in the pose. obtaining preliminary calibration data of the cameras, said preliminary calibration data representing an arrangement of the cameras in relation to a common coordinate system; obtaining a preliminary pose for an object in the scene, the preliminary pose comprising three-dimensional point locations in the common coordinate system and being calculated based on feature points detected in the views (V1-V3), wherein the object is a live body and the point locations that are included in the pose correspond to joints and/or extremities of the live body; defining an objective function comprising calibration data and pose as unknown variables, the objective function comprising a first function that determines an aggregation of differences between the feature points and the pose as projected onto the at least partly overlapping views (V1-V3) by use of the calibration data, and a second function that determines a quality of the pose; optimizing the objective function as a function of the calibration data and the pose, with starting values for the calibration data and the pose given by the preliminary calibration data and the preliminary pose; and providing the calibration data that results in an optimization of the objective function, characterized in that the second function determines the quality of the pose as a function of relative orientation, in the common coordinate system, between point locations included in the pose, and as a function of relative distance, in the common coordinate system, between the point locations included in the pose.