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Multiple targets for multiple IMUs, cameras and LiDARs (Lasers) spatiotemporal calibration.
As introduced in the README, Multical is developed to calibrate a group of rigid-mounted sensors comprised of multiple IMUs, cameras and LiDARs(LRFs). Considering that one single calibration target, for example a checkerboard, usually cannot cover the FoVs of all sensors at the same time, multiple targets are used to deal the problem.
Multical stands on the shoulder of Kalibr, it reuses tons of codes of Kalibr. All the features, functions and tools of Kalibr are reserved in this library, except for Camera-IMU calibration, because it is just a special case of multiple targets for multiple IMUs, cameras and LiDARs. The readers are refered to Wiki of Kalibr to learn the usage of Kalibr, e.g. instrinsics and extrinsics calibration of multi-camera, and we will elaborate how to use Multical to calibrate multiple IMUs, cameras and LiDARs in this wiki.