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I've found some discussion of the same question here: http://kinect-with-ros.976505.n3.nabble.com/Ros-kinect-Point-cloud-projection-in-a-second-pass-for-CPU-limited-systems-td2497149.html#a2756101

When I get a chance to try it out I'd like to produce a tutorial with every command line documented, unless someone else beats me to it.