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Calibrate depth images from Kinect with given examples.

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I want to calibrate my kinect camera. The RGB-Images work fine with `./cpp-example-calibration` but what do I do with the depth information. How do I calibrate these pictures or can i at all? Because the cv::mat is filled with depth information and not with RGB-Pixels. What sample to use with it? This is an example:
![image description](http://www.codeproject.com/KB/tablets/635749/Depth_map.jpg)

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