I've been using OpenNI2 with ROS and an ASUS Xtion Pro Live for object detection and avoidance. What I think the community is missing is missing right now isn't really on the software side, but is good, cheap, hardware. I'd be thrilled if I could buy a Carmine or something like it from Apple, but I don't see how it makes any business sense.
Yes, Tango is cool, but I think everybody on the earth tried to get a kit. :-) I did. So not much luck getting that soon. Just now I'm working on the Leap to control my television. :-)
Apparently I have to buy something with a fruit symbol on it, to be able to develop for 3D sensors in the future...