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Checking the camera_calibration shows that the implementation was limited to leave for example Tz out of the equations (checked image_geometry PinholeModel), why wasn't this provided in a general implementation? (can hardly imagine that it was because of calculation time) How do you see a multicamera calibration? The current implementation takes the translation in relation to the first camera of a stereo pair, I hardly see doing this for a multi set-up as a good solution (also not every combination could be feasible for calibration).