Figure 1: Camera setup and frame.
Figure 2: Checkerboard mounted on a foam core board with binder clips.
NimbleSDKdirectory somewhere (such as into your home directory). It should have the subdirectories:
In the NimbleSDK directory, create a config.yml (see config_example.yml), making sure CameraType is set to OpenNI2 and NumCameras is set to 1: