When capturing the depth stream (INVZ16_640x480) with the SR300, a flat surface appears curved. Strangely however the amount of curvature/distortion seems to depend on temperature! Is there a way to correct for this distortion, does it have known characteristics?
Thermal changes will definitely affect the sensor readings, but in many systems the temperature of operation remains constant after some amount of time. Otherwise the system would have to do a thermal shutdown, which is not the case with this camera, as it can run continuously.
Try running the camera overnight and check the output of the sensor the next day to see if it got into a stable state temperature-wise.