This is a video of James George showing us how to us to use the RGBDToolkit visualizer. I recorded it during last week's workshop at Eyebeam:
A full transcript of this recording was taken down in realtime by Ellen Pearlman. The transcript contains a little extra that didn't make it into the video, on exporting from the visualizer.
Note that there are older tutorials here - one of those is a visualizer tutorial. It may be a little out of date (it is an older version of the software), but may also contain some useful information.