realsense combine point cloud and image color

edit

I plug SR300 into Odroid XU4. Because of an unknown reason, when I want to get the data of topic /depth_registered/points, there doesn't generate any data. But I can receive the data of topic /depth/points and /rgb/image. So I want to receive the two topics and combine them together. The rgb camera and depth camera on the different coordinate. There will exist a small color-shift. How to align the rgb image and point cloud?