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Figured it out, depth registered image was incorrect (dark), problem already addressed in

Tried the fix suggested in that link, which led the kinect not being detected(also faced by another user in that link). So, tried the suggestion in

It's working for the moment, the depth registered image is correct, and the point cloud is created. However, the working of the kinect right now is not entirely reliable, often the camera topics are not available (will post status messages soon).