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Hacked together a point cloud from the OpenKinect project: github.com/OpenKinect/openkinect
White balance sucks on the iphone
If you have a mac you can download the source for this demo..
This is hastily cobbled together from a probably outdated version of libfreenect/openkinect so make sure to follow progress there.
Use the menu bar to toggle between color and heatmap mode.
Maximize the window when it launches.