kinect calibration

I found this source is good for beginners.

http://www.informatik.uni-freiburg.de/~engelhar/calibration.html

Although the code is written under xcode. You only need to make slight changes to work under other os.

Matt's codes:
http://graphics.stanford.edu/~mdfisher/Kinect.html

ROS technical documents:
 http://www.ros.org/wiki/kinect_calibration/technical
http://www.ros.org/wiki/kinect_node/Calibration

Nicolas codes:
http://nicolas.burrus.name/index.php/Research/KinectCalibration#tocLink0

Programming tilts:
https://groups.google.com/forum/?fromgroups#!topic/openkinect/AxNRhG_TPHg

Kinect Sensor Programming

Good resources on line:
http://graphics.stanford.edu/~mdfisher/Kinect.html


Notes:
Consists of:
The Kinect is an attachment for the Xbox 360 that combines four microphones, a standard RGB camera, a depth camera, and a motorized tilt.

Raw Sensor Value:
The raw sensor values returned by the Kinect's depth sensor are not directly proportional to the depth. Instead, they scale with the inverse of the depth. People have done relatively accurate studies to determine these coefficients with high accuracy, see the ROS kinect_node page and work by Nicolas Burrus. Both of these are excellent resources for working with the depth and color cameras.

Calibration:
The Kinect reads infrared and color data with different cameras. This makes it very challenging to determine the color of a given depth pixel or the depth of a given color pixel. Doing this requires knowing the intrinsic parameters of both cameras (they are similar, but not identical) and knowing the extrinsic mapping between them. Doing this correctly involves working with things like OpenCV which can be kind of a slow for realtime applications and can be a frustrating library to interact with in general. This calibration is also challenging because the depth camera can't see simple checkerboard patterns - it needs a checkerboard pattern that also contains regular and calibrated depth disparities. Fortuantely Nicolas Burrus posted the calibration for his Kinect color and depth cameras here, which gave pretty good results for my Kinect although there was still some noticeable misalignment.

develop kinect with opencv

opencv+kinect
http://opencv.itseez.com/doc/user_guide/ug_highgui.html

How-to: Successfully Install Kinect on Windows (OpenNI and NITE)

http://www.codeproject.com/Articles/148251/How-to-Successfully-Install-Kinect-on-Windows-Open

http://kheresy.wordpress.com/2010/12/25/use_kinect_on_windows/ (in chineses)

Be careful when you comiple opencv with CMake, especially the last one. The directory is not the binary directory within openni, otherwise is the directory within primesensor:

set(OPENNI_LIB_DESCR "Path to the directory of OpenNI libraries" CACHE INTERNAL "Description" )
set(OPENNI_INCLUDE_DESCR "Path to the directory of OpenNI includes" CACHE INTERNAL "Description" )
set(OPENNI_PRIME_SENSOR_MODULE_BIN_DESCR "Path to the directory of PrimeSensor Module binaries" CACHE INTERNAL "Description" )

RGBD Data set

1. RGB-D Object Dataset
http://www.cs.washington.edu/rgbd-dataset/software.html

2. B3DO: Berkeley 3-D Object Dataset
http://kinectdata.com/

3. Kinect with ground truth from Vicon (ETH)
http://www.asl.ethz.ch/research/datasets

4.