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