Fig. 3

The pose of the pinhole wrt the target (solid arrows) is known. The pose of the target wrt the camera (dashed arrows) is determined by a pose estimation algorithm. Using the origin {O} as a pivot, we can calculate the rotation R and translation t from {P} to {C}. The tracer is contained inside the vial with the red cap. Exit pupils (blue circles) of the target are used to direct gamma radiation from the tracer for the image augmentation to assess the calibration