The toolbox can be downloaded with or without the sample calibration images. It is strongly recommended that you download the sample images so that you can play with the toolbox and compare your results.
This is the toolbox accompanying our TPAMI 2012 paper - Herrera C., D., Kannala, J., Heikkilä, J., "Joint depth and color camera calibration with distortion correction", TPAMI, 2012. Please cite our paper if you use this toolbox.
More info at: http://www.ee.oulu.fi/~dherrera/kinect/
2012-06-15 - v2.1 - Minor update. Corrected bugs on the corner detection and reordering algorithms. Other minor bugs corrected. Added C++ code to use calibrated model.
2012-02-09 - v2.0 - Major update. Added new disparity distortion model and simultaneous calibration of external RGB camera.
2011-10-18 - v1.1 - Corrected estimated camera direction (camera pointing forward) in do_initial_rgb_calib.m
2011-06-13 - v1.0 - Added missing file mat2rgb.m
2011-06-01 - v1.0 - First upload