Feature request: Multi-board calibration

[tills98]

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Hey there, we are currently working on underwater ROV camera calibration using three Aprilgrids as seen in the following picture:

Now, as Kalibr is unable to detect all three boards separately I wrote an own script to extract all the corners etc. and get first assumptions for the intrinsics and extrinsics calibration as well as the distortion coefficients for each board separately by using OpenCV.

Our goal is, to make a joint calibration with all of these first assumptions resulting in one intrinsic matrix, the extrinsics and the distortions. Is this possible with an already integrated tool of Kalibr (giving it our assumptions and corners etc. and get our joint calibration) or do we have to use its optimizer on our own?

Kind regards, Till

[goldbattle]

I can only think something like this PR https://github.com/ethz-asl/kalibr/pull/152 which allows arbitrary board definitions would need to be used here since it isn't a single board. All the positions of the tags would need be known in some common frame.

[Alex-Beh]

@tills98 Hi, how is the progress? I am interested to contribute on this topic.