Intel RealSense R200 Camera Calibration

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I've been trying to calibrate the Intel RealSense camera using various ROS tools for some time. I'm running Ubuntu 14.04 LTS with ROS Indigo. The nodelet I've been using is: http://wiki.ros.org/RealSense_R200

Has anyone been able to get this camera calibrated within ROS? I'm going to post basically everything I've tried since it might be helpful for others, but this is going to be very long and verbose. Here's what I've tried:

PTAM (http://wiki.ros.org/ethzasl_ptam/Tutorials/camera_calibration). Result: I can launch the camera calibration tool, but the output is distorted and the nodelet crashes shortly after launching. See:

And the following terminal output:

Welcome to CameraCalibrator 
-------------------------------------- 
Parallel tracking and mapping for Small AR workspaces
Copyright (C) Isis Innovation Limited 2008 
Gui is on
[cameracalibrator-1] process has died [pid 5428, exit code -11, cmd /home/mark/catkin_ws/devel/lib/ptam/cameracalibrator image:=camera/color/image_raw pose:=pose __name:=cameracalibrator __log:=/home/mark/.ros/log/806c7c96-b3ce-11e5-a526-001c42361d26/cameracalibrator-1.log].

log file: /home/mark/.ros/log/806c7c96-b3ce-11e5-a526-001c42361d26/cameracalibrator-1*.log

And the only thing I change in PtamFixParams.yaml was:

ImageSizeX: 640
ImageSizeY: 480

ROS Calibration http://wiki.ros.org/camera_calibration Result: the r200 nodelet doesn't have a /camera/set_camera_info topic, so this method can't launch.

('Waiting for service', '/camera/set_camera_info', '...')
Service not found

libuvc_camera http://wiki.ros.org/libuvc_camera Result: Also fails. Note: I don't launch the R200 nodelet when launching this driver. I think the main problem is that there are multiple video streams coming over one USB. Here's my launch, output, and video4linux information: http://pastebin.com/mD8hvL4u.

What's worth noting is that in the launch, you specify one index, but the device actually has three /dev/videoX entries. I'm not sure how I can map these indices to a global index, but I think if I could I'd be good to go.

And of course, please suggest any other calibration methods; this is just what I've tried so far.

Thanks!