Application: kinect-stereo-calib

1. Description

kinect-stereo-calib is a program for:

  1. Interactive calibration of the intrinsic and extrinsic parameters of Kinect sensors with a checkerboard.
  2. Calibration of arbitrary stereo cameras, from images already grabbed by the user. It supports cameras of dissimilar resolutions, any baseline and any arbitrary rotation between cameras, etc.

A custom implementation of a Levenberg-Marquartd optimizer has been written in C++, which also provides as output the uncertainty of each estimated parameter (its underlying mathematical details will be reported in a document, to be linked here).

2. Usage

Please, refer to the example usage demonstration in this video:

3. Screenshots

Some screenshots of this application (click to see larger images):

Start screen with calibration instuctions

Start screen with calibration instuctions

Capturing images in the RGB channel

Capturing images in the RGB channel

Capturing in the IR channel of Kinect.

Capturing in the IR channel of Kinect.