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    <p>This is a well known problem for stereo vision systems. I had the same problem a while back. The original question I posted can be found <a href="http://social.msdn.microsoft.com/Forums/en-US/c39bab30-a704-4de1-948d-307afd128dab/kinectsensormapdepthframetocolorframe-example" rel="noreferrer">here</a>. What I was trying to do was kind of similar to this. However after a lot of research I came to the conclusion that a captured dataset can not be easily aligned. </p> <p>On the other hand, while recording the dataset you can easily use a function call to align both the RGB and Depth data. This method is available in both OpenNI and Kinect SDK (functionality is same, while names of the function call are different for each)</p> <p>It looks like you are using Kinect SDK to capture the dataset, to align data with Kinect SDK you can use <a href="http://social.msdn.microsoft.com/Forums/en-US/c39bab30-a704-4de1-948d-307afd128dab/kinectsensormapdepthframetocolorframe-example" rel="noreferrer">MapDepthFrameToColorFrame</a>.</p> <p>Since you have also mentioned using OpenNI, have a look at <a href="http://kinectcar.ronsper.com/docs/openni/classxn_1_1_alternative_view_point_capability.html" rel="noreferrer">AlternativeViewPointCapability</a>.</p> <p>I have no experience with Kinect SDK, however with OpenNI v1.5 this whole problem was solved by making the following function call, before registering the recorder node:</p> <pre><code>depth.GetAlternativeViewPointCap().SetViewPoint(image); </code></pre> <p>where <code>image</code> is the image generator node and <code>depth</code> is the depth generator node. This was with older SDK which has been replaced by OpenNI 2.0 SDK. So if you are using the latest SDK, then the function call might be different, however the overall procedure might be similar.</p> <p>I am also adding some example images:</p> <p>Without using the above alignment function call the depth edge on RGB were not aligned <img src="https://i.stack.imgur.com/N6bT0.png" alt="Without Alignment"></p> <p>When using the function call the depth edge gets perfectly aligned (there are some infrared shadow regions which show some edges, but they are just invalid depth regions) <img src="https://i.stack.imgur.com/2GaVi.png" alt="With Alignment"></p>
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    1. POWhy kinect color and depth won't align correctly?
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    1. COThank you for the response. I have already attempted alignment, but was unsuccessful. As it turns out, I was using the right call, but Kinect has an extra "gotcha." In the "Common NUI Problems and FAQs," (http://social.msdn.microsoft.com/Forums/en-US/4da8c75e-9aad-4dc3-bd83-d77ab4cd2f82/common-nui-problems-and-faq), it lists that the depth value obtained from the Kinect must be bit shifted by 3 since player's index is also stored in the depth value. After adjusting, the alignment using my original code works fine. I wouldn't have found this out without your links :).
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    2. COI'm going to set your response as the answer as it also provides significant background, example, and code to the problem of alignment.
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