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I found my problem: it is because I am using a fake laser scan from an asus xtion, and this one worked only if I used original openni_launch instead of the ccny_openni_launch included in the package.

So I did remap the topics in the fake laser launch file so that the cloud points to /depth/points (as provided by ccny_openni_launch) instead of /camera/depth/points (as provided by original openni_launch), and it worked fine with the new ccny_openni_launch.

And also changing the calibration file to "calibration_asus_xtion_pro" in the cnny_openni_launch openni.launch file helped I guess.