Multiple RGB-D camera calibration

[Severn]

Hi Mathieu,
    Multiple RGB-D cameras are supported in RTABMAP, and I remember that there are calibration tools in RTABMAP as well. How can I obtain the relative pose between the RGB-D sensors?  Here is my robot platform. Thank you in advance!

Sincerely,
Severn

[matlabbe]

Hi Severn,

The calibration tool in rtabmap is used to calibrate stereo cameras or calibrate an ir camera to a rgb camera (as well as depth to rgb registration). There is no automated tool in rtabmap to find TF between multiple cameras or between camera and the platform. This old package may be able to do that: http://wiki.ros.org/openni/Contests/ROS%203D/Automatic%20Calibration%20of%20Extrinsic%20Parameters

Cheers,
Mathieu