Programms to calibrate depth_image from kinect

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I try to find programs to get the values for the intrinsic and extrinsic parameters but RGBDemo has old ubuntu-package dependencies (have (14.04)) I cannot solve and Matlab toolbox from Herrera is quite complicated. Any suggestions? What I want to end up with is a proper yaml-file or at least with the parameters to fill in like shown in the camer_calibration_parsers wiki.

EDIT I used D. Herrera and Burrus's data for depth monocular calibration and I ended up with:

    image_width: 640    //Region of Interest
    image_height: 480
    camera_name: depth_A70774V01752221A     //@change Seriennummer anpassen
    camera_matrix:  // = Matrix K beinhaltet Intrinsik
      rows: 3
      cols: 3
      data: [594.25, 0, 339.79, 0, 592.48, 242.50, 0, 0, 1]
    distortion_model: plumb_bob     //Lochkamera-Modell
    distortion_coefficients:    // Entzerrungs-Vektor k
      rows: 1
      cols: 5
      data: [-0.26167, 0.99319, -0.00102, 0.00536, -1.29664]
    rectification_matrix:   // Rotations-Matrix  !not R
      rows: 3
      cols: 3
      data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
    projection_matrix:      //  Matrix [mod(K)|t]
      rows: 3
      cols: 4
      data: [594.25, 0, 339.79, 0, 592.48, 242.50, 0, 0, 1, 0, 0, 0]