How does the Xtion compute depth from disparity?

[Rafael]

The subject tells most of the question.
In particular, I'd like to know if the depth-from-disparity
computation takes into account any radial lens distortion. These
distortions might make a difference, especially at high depths.
Is there a way to access raw disparity values?

Also, I'd like to know if the hardware depth-to-rgb registration is
the same algorithm as in the software registration.

Thanks,
Rafael

[Rafael]

anyone?