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Hello there! Sorry for bringing an old thread back to life, but we just calibrated some of our Kinects and also had kind of a bad time (Ubuntu 12.04 + ROS Fuerte from packages). This thread helped though, the contraster turned out to be required.

We have put all necessary steps into a wiki page available here: https://sites.google.com/site/rameyarnaud/misc/ros/kinect-calibration Hope it helps the community!