I'm working on RealSense project at the moment. You won't be able to do it out the box, but their SDK does come with a lot of sample code, one which makes use o

I'm working on RealSense project at the moment. You won't be able to do it out the box, but their SDK does come with a lot of sample code, one which makes use of the RGB sensor on the D400 series to calibrate the cameras in world space. With just depth data it's a bit trickier.