kinect calibration with distortion

v2.1
....\capture
....\.......\CMakeLists.txt
....\.......\freenect_module.cpp
....\.......\freenect_module.h
....\.......\kinect_calibration.cpp
....\.......\kinect_calibration.h
....\.......\kinect_capture.cpp
....\.......\kinect_capture_app.cpp
....\.......\kinect_capture_app.h
....\doc
....\...\doc_2_1.pdf
....\toolbox
....\.......\autoCornerFinder
....\.......\................\FindCorners.exe
....\.......\................\FindCornersVisual.exe
....\.......\................\FindCornersVisualSave.exe
....\.......\................\FindCornersVladimir.exe
....\.......\................\README.txt
....\.......\................\Thumbs.db
....\.......\................\cToMatlab
....\.......\................\cv100.dll
....\.......\................\cxcore100.dll
....\.......\................\highgui100.dll
....\.......\................\libguide40.dll
....\.......\................\msvcr71.dll
....\.......\................\pictures.txt
....\.......\................\source
....\.......\................\......\autoCornerFinder_linux.zip
....\.......\................\......\autoCornerFinder_win.zip
....\.......\................\temp.jpg
....\.......\batman.m
....\.......\calib_distortion.m
....\.......\calib_distortion_beta.m
....\.......\calib_distortion_woffset.m
....\.......\calib_from_homographies.m
....\.......\calibrate_external_camera.m
....\.......\calibrate_kinect.m
....\.......\calibrate_kinect_cost.m
....\.......\calibrate_kinect_cost_color.m
....\.......\calibrate_kinect_cost_depth.m
....\.......\calibrate_kinect_cost_raw.m
....\.......\calibrate_kinect_cov2error.m
....\.......\calibrate_kinect_jacobian_pattern.m
....\.......\calibrate_kinect_options.m
....\.......\calibrate_kinect_r2s.m
....\.......\calibrate_kinect_s2r.m
....\.......\calibrate_kinect_tolerance.m
....\.......\click_ima_calib_rufli_k.m
....\.......\compute_collineation.m
....\.......\compute_homography.m
....\.......\compute_rgb_depthmap.m
....\.......\cornerfinder.m
....\.......\count_squares.m
....\.......\depth2disparity.m
....\.......\depth2world_old.m
....\.......\depth_extern_calib.m
....\.......\depth_plane_error.m
....\.......\disparity2depth.m
....\.......\disparity2world.m
....\.......\distort.m
....\.......\distort_disparity.m
....\.......\do_calib.m
....\.......\do_fixed_depth_calib.m
....\.......\do_initial_depth_calib.m
....\.......\do_initial_rgb_calib.m
....\.......\do_load_calib.m
....\.......\do_plot_depth_plane.m
....\.......\do_plot_rgb_corners.m
....\.......\do_rgb_depthmap.m
....\.......\do_save_calib.m
....\.......\do_select_depth_corners.m
....\.......\do_select_images.m
....\.......\do_select_planes.m
....\.......\do_select_rgb_corners.m
....\.......\do_useful_fcn.m
....\.......\do_validate.m
....\.......\draw_axes.m
....\.......\estimate_depth_calib_from_corners.m
....\.......\estimate_initial_dc.m
....\.......\extern_from_homography.m
....\.......\extract_grid.m
....\.......\extrinsic2plane.m
....\.......\extrinsics_from_homography.m
....\.......\find_images.m
....\.......\find_nearest.m
....\.......\fit_plane.m
....\.......\get_depth_error.m
....\.......\get_depth_error_all.m
....\.......\get_depth_error_all_w.m
....\.......\get_depth_samples.m
....\.......\get_dpoint_direction.m
....\.......\get_expected_plane_depth.m
....\.......\get_rgb_errors.m
....\.......\ginput3.m
....\.......\global_vars.m
....\.......\homography_from_corners.m
....\.......\kinect_calib_gui.fig
....\.......\kinect_calib_gui.m
....\.......\lambertw_fast.m

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