CVG releases an open source library for calibration of multi-camera systems
Our partners at the ETH Zurich Computer Vision and Geometry lab have released the calibration pipeline that we use in V-Charge. The code is open source and it should work for calibrating the intrinsics and extrinsics of any multi-camera system.
View the overview webpage here: http://people.inf.ethz.ch/hengli/camodocal/
Get the code on github: https://github.com/hengli/camodocal