Class for multiple camera calibration that supports pinhole camera and omnidirection camera. For omnidirectional camera model, please refer to
in ccalib module. It first calibrate each camera individually, then a bundle adjustment like optimization is applied to refine extrinsic parameters. So far, it only support "random" pattern for calibration, see randomPattern.hpp in ccalib module for details. Images that are used should be named by "cameraIdx-timestamp.*", several images with the same timestamp means that they are the same pattern that are photographed. cameraIdx should start from 0.