Optimizing Camera Extrinsics with Bundle Adjustment

[lgjonathan]

First of all, thank you for the amazing work.

My setup is as follows:

• there are cameras mounted on the robot
• robot odometry will give me the robot pose: VERTEX_SE3
• landmarks are in VERTEX_TRACKXYZ
• the observation is therefore EDGE_SE3_TRACKXYZ

My goal is to optimize/calibrate the robot-camera transformation. (some call it camera extrinsics)
Since the robot-camera relation is static, what I tried first is to set a PARAMS_SE3OFFSET to describe this relation.
However, OFFSET won't get optimized with the solver, so this only results in pose graph optimization.

I was wonder if there are some materials that I can read up on.
Any suggestion is welcomed, thank you.