Patrick Mihelich has just finished creating a
kinect_calibration package for the ROS kinect stack. This calibration procedure takes advantage of the IR image access we added last week, plus the helpful discovery by Alex Trevor to use a halogen lamp to provide the necessary illumination for the IR image (in lieu of the IR projector).
Tomorrow we hope to do a release of the new stack with this calibration code as well as a proper tutorial. If you're really curious, you can try these barebone instructions.