There are "camps" when it comes to Beatles albums. While Sgt. Pepper was proclaimed the best in the late 60's, I don't know anyone who thinks that now. For some it's Abbey Road, for others (like Mazzy at The Vinyl Community on YouTube) Revolver. For me it's Rubber Soul.
As for good live concert DVD's, no, there are none. Well, maybe the rooftop concert, if you like that sort of thing. The problem is, they weren't all that good a live band (honest. I saw them in '65), and nobody was doing good live recordings when they were still performing. The sound at their live shows was a joke.