Some data sets that have been used to calibrate our sensors are available here.
The data is available as ROS bag files to maximize compatibility.
The bag files contains the following topics:
CAMERA/DEPTH/IMAGE_RAW
CAMERA/DEPTH/CAMERA_INFO
Look at the calibration procedure page to see a demo on how to take a dataset.
KINECT FOR WINDOWS
XTION V1
XTION V2