Demo software to visualize, calibrate and process Kinect output
http://nicolas.burrus.name/index.php/Research/KinectRgbDemoV6

This software was partly developed during Nicolas Burrus's stay in 
the UC3M RoboticsLab http://roboticslab.uc3m.es and aims at providing a
simple toolkit to start playing with Kinect data.

The code is based on the freenect library http://openkinect.org, 
the OpenNI library http://openni.org, OpenCV http://opencv.willowgarage.com,
and PCL http://pointclouds.org.

The demos are based on a library called nestk. The library itself is
easy to integrate to an existing project using cmake: just copy the
nestk folder as a subfolder of your project and you should be able to
start working with Kinect data. You can get a tutorial to get started
there: http://github.com/rgbdemo/nestk .