kinect-stereo-calib is a program for:
- Interactive calibration of the intrinsic and extrinsic parameters of Kinect sensors with a checkerboard.
- 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).
Please, refer to the example usage demonstration in this video:
Some screenshots of this application (click to see larger images):