Took still shots from the video of the calibration pattern for the black and white camera. Here are two versions of the exact same image. One is "as is", or how the camera sees the pattern raw. The other is after distortion factors were computed and then inversely applied so as to "undistort" or correct the image. This is how the video stream is calibrated--basically just an undistort filter applied to the stream before it is fed into the tracking algorithms in DART/ARToolkit.