MCPTAM is a set of ROS nodes for running Real-time 3D Visual Simultaneous Localization and Mapping (SLAM) using Multi-Camera Clusters. It includes tools for calibrating both the intrinsic and extrinsic parameters of the individual cameras within the rigid camera rig.
Should be able to force add an MKF during extrinsic calibration.
Should have an indication during extrinsic calibration of how sensitive the solution is to scale (median radial covariance, or at the very least fraction of points that are small distance from camera compared to baseline)
Should be able to force add an MKF during extrinsic calibration. Should have an indication during extrinsic calibration of how sensitive the solution is to scale (median radial covariance, or at the very least fraction of points that are small distance from camera compared to baseline)