This work presents a complete Mueller matrix imaging polarimeter that uses three liquid-crystal retarders and a pixelated polarization camera. The polarimeter is characterized and optimized with a standard correction procedure here adapted to be performed fully in-situ, without any additional element, based on considering the polarization camera as the reference. The accuracy limit caused by the extinction ratio in the camera micro-polarizers is analyzed. Finally, the imaging polarimeter is tested experimentally by analyzing well-known samples for structured light applications such as patterned retarders, a patterned polarizer, and a liquid-crystal depolarizer. The work is presented in a tutorial style useful to reproduce the procedure by non-experts in polarimetry.