Comment by dima55

Depends on how much accuracy you want in your results. You can do chessboardless calibration and stereo today, but you need lot of data and careful error propagation that nobody does. The mrcal project does does high-precision calibration and streo with boards. I've a boardless method mostly done now, and will run experiments soon. The conclusion might be that you need unreasonable input data to get good results :)