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visual servoing using kinect camera

Hi experts, I have some previous working experience with platforms like MATLAB and LABVIEW on for robotics development but now Im interested in ROS. I have to perform a quick project of visual servoing using kinect camera and robotic arm. ViSP library seems perfect for this but I need some help regarding interfacing it with Kinect camera. Is there anyone working with it and could provide me easy tutorial as Im newbie in Linux as well as ROS. To be specific, I need help on the certain things on ROS like --

Tracking multiple (maybe 2) 3D objects real time using Kinect v1 camera

I need to know some easy library or APIs available for this job. Thanks in advance.