I am working with multiple Kinects V2. I am using libfreenect2 and iai_kinect2, so I have the pointclouds from the Kinects. What I want to do now is to combine these pointclouds into one, which is called registration if I am not mistaken.

Are there packages out there which can do this for me? If not, can someone point me in the right direction? The goal is to have it working in realtime 15-20 fps.

Thanks in advance.