Hey! Author of the work here. We just finished presenting this at a conference yesterday, so we're working on open-sourcing the code now with some feedback from

Hey! Author of the work here. We just finished presenting this at a conference yesterday, so we're working on open-sourcing the code now with some feedback from the community. It's got some warts because of API limitations (no way to automatically align color and ToF cameras, so we're manually doing that).