Freenomad_vision is a project mainly written in C++, it's free.
libfreenect + opencv + opengl - software
README: dd. 19.01.2010
this Source-Code was compile with older libfreenects-lib. its possible you have compiler-errors, if you use the newest release of libfreenect.
linux ubuntu-10.10 opencv-2.0.0 install and running opengl install and running (optional) libfreenect webcam (running, for tests with opencv-functions(optional))
g++ -fPIC -g -Wall -I/usr/local/include/opencv -L /usr/local/lib -lcxcore -lcv -lhighgui -lcvaux -lml -o PROG-NAME PROG-NAME.cpp -lfreenect -lm
run as: ./PROG-NAME
PROG-NAME name of the source-code-file