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Reflective and transparent surfaces are very challenging for mapping approaches. For the two Xtions approach you refer, it is a stereo setup with IR images. You may use stereo calibration tutorial to calibrate the Xions with each other. Well, you may have to hide the IR pattern when calibrating. On runtime, you may use stereo_image_proc to generate the disparity image. Be aware that this package may assume horizontal stereo, so you may have to rotate the images/camera_info, then rotate back the output disparity. By converting the disparity to depth (rtabmap_ros/disparity_to_depth) and left IR image to Gray scale, you could use rgb-d interface of rtabmap.

However, some surfaces are just very difficult to detect with vision/laser, just think about a mirror or clean glass...