We have a set of 8 cameras mounted rigidly on a mobile robot. The cameras are forming an arc, which allows a 360º vision.
I want the extrinsic parameters of them referred to the robot. Is there any ROS package that allows that? If not, how can I do that?
I was thinking of doing some stereo calibrations between the pairs of cameras. Then, refer all the cameras to the same camera system with simple transformations.
Edit: Other option is doing something like in https://www.researchgate.net/publication/329600906_Charuco_Board-Based_Omnidirectional_Camera_Calibration_Method
In this paper they propose a Charuco board-based cube structure to calibrate the camera rig. But the problem is that I must make the cube on my own and can introduce some errors.
Any help? Thank you!!