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This example talks about the Kinect, but it should be fine for the Asus Xtion Pro too. I am just starting to test it myself with a Structure Sensor:

http://wiki.ros.org/openni_launch/Tutorials/ExtrinsicCalibrationExternal

(Hat tip to matlabbe who shared this with me when I asked a similar question on the rtabmap_ros github project: https://github.com/introlab/rtabmap_ros/issues/37)