The package comes with both intrinsic and extrinsic calibration for multi-camera system. The advantage of this technique is that it does not require overlapping fields of view between cameras. In order to determine the scale metric between cameras, it requires odometry data which can be from the wheel or GPS/IMU system. The package is developed in C++ on the Ubuntu platform. I attempted to port it to Windows but due to its dependency, it is a complicated task. An easy solution is to use CamOdoCal is to install Ubuntu on Oracle Virtual Box (https://www.virtualbox.org/) on my Windows machine, and this works for me to compile and use it.
Reference:
Heng, L., Li, B., Pollefeys, M., 2013. CamOdoCal: Automatic intrinsic and extrinsic calibration of a rig with multiple generic cameras and odometry.
Link:
https://github.com/hengli/camodocal
http://people.inf.ethz.ch/hengli/camodocal/
To be updated ..
