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openni_camera already provides what you are looking for by default in its current version!

If you have a look at the rgb and depth image you will find that the depth image is already transformed and projected to camera coordinates of the rgb camera: image description

Note that you can turn this off by changing the setting for depth_registration after running:

rosrun dynamic_reconfigure reconfigure_gui

Make sure to have a look at the wiki page as well.

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