Oliver Kreylos, whose video and website I posted earlier now has his
source code up on his website
(http://idav.ucdavis.edu/~okreylos/ResDev/Kinect/index.html). Looking
at the code it appears he manually annotated correspondences between
images and then does some fitting based on these correspondences.

2010/11/15 Bill Morris <morris@ee.ccny.cuny.edu>:
> I have added some test images showing some of the issues we are having
> with trying to cross calibrate. Thoughts?
>
> http://www.ros.org/wiki/kinect_node#Automatic_Calibration_Tests
>
>
>
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