kinect深度图彩色图配准

生成的点云一直不太正常，发现深度图和彩色图没有配准
Kinect的SDK的函数貌似无用？
以下为找到的几个配准代码记录：

1.链接：https://blog.youkuaiyun.com/shihz_fy/article/details/43602393#commentsedit

/*****    Measurement of height by kinect            ******/
/*****    VisualStudio 2012 (开发工具)
		  OpenCV2.4.8 (显示界面库 vc11库)
		  KinectSDK-v2.0-PublicPreview1409-Setup (Kinect SDK驱动版本)
		  Windows 8.1 (操作系统)                   ******/
/*****    shihz                                    ******/
/*****    2015-2-7                                ******/
 
#include"stdafx.h"
#include "opencv2/opencv.hpp"
 
#define Y 160
using namespace cv;
 
// Safe release for interfaces
template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
	if (pInterfaceToRelease != NULL)
	{
		pInterfaceToRelease->Release();
		pInterfaceToRelease = NULL;
	}
}
 
//定义Kinect方法类
class Kinect
{  
public:
	static const int        cDepthWidth  = 512;   //深度图的大小
	static const int        cDepthHeight = 424;
 
	static const int        cColorWidth  = 1920;   //彩色图的大小
	static const int        cColorHeight = 1080;
	Mat showImageDepth;
 
	HRESULT					InitKinect();//初始化Kinect
	void					UpdateDepth();//更新深度数据
	void					UpdateColor();//更新深度数据
	void					ProcessDepth(const UINT16* pBuffer, int nWidth, int nHeight, USHORT nMinDepth, USHORT nMaxDepth);   //处理得到的深度图数据
	void					ProcessColor(RGBQUAD* pBuffer, int nWidth, int nHeight);   //处理得到的彩色图数据
 
	Kinect();                                     //构造函数
	~Kinect();                                     //析构函数
 
private:
	
	IKinectSensor*          m_pKinectSensor;// Current Kinect
	IDepthFrameReader*      m_pDepthFrameReader;// Depth reader    在需要的时候可以再添加IColorFrameReader,进行color reader
	RGBQUAD*                m_pDepthRGBX;        
    IColorFrameReader*      m_pColorFrameReader;// Color reader
	RGBQUAD*                m_pColorRGBX;
};
 
int main()
{
    Kinect kinect;
	Mat showImageColor;
	kinect.InitKinect();
	while(1)
	    {
		   kinect.UpdateColor();                          //程序的中心内容，获取数据并显示
		   kinect.UpdateDepth();
		   if(waitKey(1) >= 0)//按下任意键退出
		      {
			     break;                                
		       }
	     }
 
 
	return 0;
}
 
Kinect::Kinect()
{
	m_pKinectSensor = NULL;
	m_pColorFrameReader = NULL;
	m_pDepthFrameReader = NULL;
	
	m_pDepthRGBX = new RGBQUAD[cDepthWidth * cDepthHeight];// create heap storage for color pixel data in RGBX format  ，开辟一个动态存储区域
	m_pColorRGBX = new RGBQUAD[cColorWidth * cColorHeight];// create heap storage for color pixel data in RGBX format
}
 
Kinect::~Kinect()                        //定义析构函数
{
	if (m_pDepthRGBX)
	{
		delete [] m_pDepthRGBX;            //删除动态存储区域
		m_pDepthRGBX = NULL;
	}
 
	SafeRelease(m_pDepthFrameReader);// done with depth frame reader
 
	if (m_pColorRGBX)
	{
		delete [] m_pColorRGBX;
		m_pColorRGBX = NULL;
	}
 
	SafeRelease(m_pColorFrameReader);// done with color frame reader
	
	if (m_pKinectSensor)
	{
		m_pKinectSensor->Close();// close the Kinect Sensor
	}
	SafeRelease(m_pKinectSensor);
}
 
HRESULT	Kinect::InitKinect()            //定义初始化kinect函数
{
	HRESULT hr;                           //typedef long HRESULT
 
	hr = GetDefaultKinectSensor(&m_pKinectSensor);      //获取默认的kinect，一般来说只有用一个kinect，所以默认的也就是唯一的那个
	if (FAILED(hr))                                //Failed这个函数的参数小于0的时候返回true else 返回false
	{
		return hr;
	}
 
	if (m_pKinectSensor)
	{
		// Initialize the Kinect and get the depth reader
		IDepthFrameSource* pDepthFrameSource = NULL;
        IColorFrameSource* pColorFrameSource = NULL;
 
		hr = m_pKinectSensor->Open();
 
		if (SUCCEEDED(hr))
		{
			hr = m_pKinectSensor->get_ColorFrameSource(&pColorFra