npm install
bower install

brew install openni

Sample
[[  11.0768672   -26.22925933  169.53333333]
 [ -17.76983067  -25.687812    169.23333333]
 [  10.70526503  -17.85659733  203.9       ]
 [ -17.913331    -17.341772    200.7       ]
 [  10.80245353  -47.01945667  174.7       ]
 [ -18.01577767  -46.69735133  173.5       ]]
(3, 6)

Target
[[  15.875     -13.547733   96.22    ]
 [ -15.875     -13.547733   96.22    ]
 [  15.875     -13.547733  131.78    ]
 [ -15.875     -13.547733  131.78    ]
 [  15.875     -37.687733   96.22    ]
 [ -15.875     -37.687733   96.22    ]]
(3, 6)

Offset matrix
[[  1.07672107e+00  -2.24848568e-02   3.82519412e-02  -3.84771030e+00]
 [  3.04237683e-02   1.05036714e+00  -2.38956699e-01   5.36422332e+01]
 [ -3.22982060e-02   2.39833986e-01   1.05011120e+00  -7.58564359e+01]
 [  0.00000000e+00   0.00000000e+00   0.00000000e+00   1.00000000e+00]]

With transform
[[  15.15372623  -14.08224453   95.5239849     1.        ]
 [ -15.92977108  -14.31946429   96.2705056     1.        ]
 [  15.87994795  -13.51132624  133.63285734    1.        ]
 [ -15.06827935  -13.07659472  131.32030343    1.        ]
 [  15.52335889  -37.16254297   95.97222659    1.        ]
 [ -15.55898263  -37.41422526   95.72012213    1.        ]]