Multi-cam calibration transformation w.r.t first cam

ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox

Other

4.39k stars 1.41k forks source link

Multi-cam calibration transformation w.r.t first cam #456

Closed aswinchand closed 2 years ago

aswinchand commented 3 years ago

Hello, I'm trying to implement multi-camera calibration of 4 cameras with respect to one camera (i.e, transforming cam1, cam2 & cam3 with respect to cam0, so the final q & t transformation will be T_1_0, T_2_0 & T_3_0). Can you help me what changes I have to make to achieve this?

goldbattle commented 2 years ago

You can just specify the your cam0 to be the first camera topic. The yaml / results file will provide this transform after you perform multi-camera calibration.