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Can you be a little more specific? If you are already using the Kinect, then you already have a 3D point cloud.

Can you be a little more specific? If you are already using the Kinect, then you already have a 3D point cloud.

Edit:

It's very easy to perform calibration in ROS, using the camera_calibration package. The idea is that you match the VGA pixel to the DepthPoint of the Kinect IR (3D) camera. You can read more here.

You can also perform extrinsic calibration, following this tutorial. In general, look at the OpenNI tutorials to understand how to proceed.

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