This is an implementation of block optimization based on the ceres solver. For stereo camera calibration two pinhole cameras with distortion are used for modelling.
Block optimization is used for stereo camera online calibration with visual odometry.
This repository is the code associated with the paper
Eike Rehder, Christian Kinzig, Philipp Bender, and Martin Lauer, "Online Stereo Camera Calibration From Scratch," 2017 IEEE Intelligent Vehicles Symposium (IV), Los Angeles, CA, USA, 2017, pp. 1694-1699, doi: 10.1109/IVS.2017.7995952.