RGBDemo is a software based on OpenCV, OpenNI and PCL that aims at showcasing computer vision applications that benefit from the recently available Kinect-like cameras. It was partly developed at the RoboticsLab of Carlos III University (Madrid) by Nicolas Burrus.
The 0.6 release includes two new demos, an interactive program to calibrate multiple RGBD cameras, and a one shot 3D model acquisition of objects lying on a table based on PCL table top detector. See the video below for more information. Other demos include visual SLAM and people counting.
The core library behind it (called nestk) can be used to develop your own RGBD software, and code source for everything is available under LGPL license on the project webpage.