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Multi camera calibration with flat pattern, error minimization.

I have dataset from camera array with chessboard markers. For simplicity, assume that have 3 cameras. To calibrate I use calibrateCamera alternately for each camera to find intrinsic on all images where pattern was found. After I use stereoCalibrate with fixed intrinsic on all images with same timestamp where pattern found. stereoCalibrate was performed to cameras 1-2 and 1-3. Now I have related position and orientation camera1 to cam2 and cam3. Please advice me optimization extrinsic method to all cameras together. As I understood bundle adjustment is not suitable for flat pattern, "depth" needed? Thanks.