A method of calibrating a first and a second camera of a stereo camera arrangement with respect to each other, the method comprising: receiving a first image from the first camera; receiving a second image from the second camera, wherein both the first image and the second image comprises an overlap; determining one or more candidate points of the first image in the overlap; determining one or more candidate points of the second image in the overlap; matching the candidate points of the first image with the candidate points of the second image and determining pairs of corresponding candidate points; calculating a homography of the first camera based on the pairs of corresponding candidate points; calculating a homography of the second camera based on the pairs of corresponding candidate points; calibrating the first camera with respect to the second camera by adjusting an intrinsic parameter of the first camera based on the calculated homography of the first camera; calibrating the second camera with respect to the first camera by adjusting an intrinsic parameter of the second camera based on the calculated homography of the second camera, wherein the intrinsic parameter of the first camera and the intrinsic parameter of the second camera are both adjusted, adjusting an extrinsic parameter of the first camera, based on the calculated homography of the first camera, to calibrate the first camera with respect to the second camera, and adjusting an extrinsic parameter of the second camera, based on the calculated homography of the second camera, to calibrate the second camera with respect to the first camera, thus enabling production of a 3D image of a scene. receiving a first image from the first camera; receiving a second image from the second camera, wherein both the first image and the second image comprises an overlap; determining one or more candidate points of the first image in the overlap; determining one or more candidate points of the second image in the overlap; matching the candidate points of the first image with the candidate points of the second image and determining pairs of corresponding candidate points; calculating a homography of the first camera based on the pairs of corresponding candidate points; calculating a homography of the second camera based on the pairs of corresponding candidate points; calibrating the first camera with respect to the second camera by adjusting an intrinsic parameter of the first camera based on the calculated homography of the first camera; calibrating the second camera with respect to the first camera by adjusting an intrinsic parameter of the second camera based on the calculated homography of the second camera, wherein the intrinsic parameter of the first camera and the intrinsic parameter of the second camera are both adjusted, adjusting an extrinsic parameter of the first camera, based on the calculated homography of the first camera, to calibrate the first camera with respect to the second camera, and adjusting an extrinsic parameter of the second camera, based on the calculated homography of the second camera, to calibrate the second camera with respect to the first camera, thus enabling production of a 3D image of a scene. <EOS>