Calibration of depth sensors, e.g. Kinect, Asus Xtion
Result: https://www.youtube.com/watch?v=lL3HjvxNNoc
To use the calibration file include the depth_adjuster_launch.xml in your openni launcher. Look at the adjusted_openni2.launch for an example (or just use this launcher).
Based on information from:
website: http://alexteichman.com/octo/clams/ paper: http://www.roboticsproceedings.org/rss09/p27.html