Camera calibration challenge

From the given dataset obtain the camera intrinsic (i.e. Calibration matrix, distortion parameters) and extrinsic (Relative pose of arducam1 wrt arducam0) parameters.

Scene description

• Apriltag 45 to 59 is present of size 0.173m
• Tags are printed from this pdf.

Bags

1. data0.bag: compressed image stream of arducam0 looking at A4_chessboard.
2. data1.bag: compressed image stream of arducam1 looking at A4_chessboard.
3. data2.bag: compressed image stream of arducam0 looking at april_6x6_80x80cm_A0.
4. data3.bag: compressed image stream of arducam1 looking at april_6x6_80x80cm_A0.
5. data4.bag: sequence 1 of recording of unsynchronized compressed image from arducam0 and arducam1.
6. data5.bag: sequence 2 of recording of unsynchronized compressed image from arducam0 and arducam1.