6-Point Calibration - old
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Tutorial Video
Rcgroups users mackar and V_Okto made a great videos on how to do a 6-point calibration (see also here and here).
Calibration Tools/Techniques
bruce356's 3D printed calibration cube:
http://www.rcgroups.com/forums/showpost.php?p=29983118&postcount=2346
stl files: http://www.rcgroups.com/forums/showpost.php?p=29983275&postcount=2351
GekoCH's wooden board calibration tool: http://www.rcgroups.com/forums/showpost.php?p=30034517&postcount=2439
larsm's calibration technique: http://www.rcgroups.com/forums/showpost.php?p=29649741&postcount=1897
OlliW's lego calibration tool: http://www.rcgroups.com/forums/showpost.php?p=29646349&postcount=1890