camera_calibration for multiple camera setup

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Hi Koen, for the extrinsic calibration of multiple cameras it is considerably more difficult to generate feature correspondences and initial poses for the optimisation.

In the stereo-vision case multiple views of a checkerboard are ideal: we can make assumptions about the relative views eg. the cameras are roughly pointing in the same direction and share the same "up". After extracting the checkerboard corners it's easy to assume the feature correspondences. Given the checkerboard size we can also estimate the relative camera pose.

You'll probably need to calibrate each cameras' intrinsics separately, and then investigate either 1) using some sort of fiduciary marker, or 2) a rich feature descriptor (eg SURF) and a lot of random objects in your scene to generate the feature correspondences for bundle adjustment. This really becomes a full bundle adjustment problem. Most of the code you'll need is in this stack.

If you have a small separation between your cameras you might get away with a checkerboard pattern with one corner modified so you can uniquely identify "up" on the board. You could then generate initial relative camera pose estimates and feature correspondences from that.

Edit: The camera_pose_calibration package recently appeared on the ROS wiki. It looks like what you're after.