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. <EOS>