multicam_calibration tests

How to run

There are some pre-generated corners.csv and corresponding Kalibr-format yaml files in the test subdirectories. To run for example a test of the equidistant model:

roslaunch multicam_calibration test_calib.launch type:=equidistant

Then look at the screen output and the calibration output files generated into the corresponding test subdirectory. Does the screen output match the correct_output.txt?

How to generate grid points

Use the make_test_corners.py script to generate test points, specifying in the calibration file you want to use:

rosrun multicam_calibration make_test_corners.py -o ./corners.csv -f ./equidistant-initial.yaml

You may have to fiddle with some of the parameters in the script that determine the size of the target in world coordinates, the (varying!) distance between camera and target etc.