Code for Automatic Multimodal Calibration of a Sensor Array
Note this code makes use of or borrows some lines from the following code
libICP - icp matching code http://www.cvlibs.net/software/libicp/
Kabsch algorithm - http://www.mathworks.com/matlabcentral/fileexchange/25746-kabsch-algorithm
Image undistortion code - http://stackoverflow.com/questions/12117825/how-can-i-undistort-an-image-in-matlab-using-the-known-camera-parameters
CMAES optimization - https://www.lri.fr/~hansen/cmaes.m
Bounds plotting - http://www.mathworks.com/matlabcentral/fileexchange/27485-boundedline--line-plots-with-shaded-error-confidence-intervals
Fundemental matrix calculations - http://www.csse.uwa.edu.au/
Transformation representation - http://asrl.utias.utoronto.ca/code/barfoot_tro14.zip