Kinect calibration

This page refers to the calibration of the intrinsic parameters of both Kinect cameras (RGB and IR), plus the accurate determination of the relative 6D pose between them.

The interactive GUI application kinect-stereo-calib makes it really easy to calibrate a Kinect sensor with a checkerboard, either live or from already grabbed images. See the following video for a demonstration:

Next follows an example calibration file, loadable by the class mrpt::hwdrivers::CKinect (the prefix "CAMERA_" in all the section names can be changed to anything else):