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This error message (and also the one in rviz) indicates that the pointcloud topic ar_bounding_box subscribes to is the wrong one, i.e. one without RGB information.
Revert your changes and try it like this
rosrun ar_bounding_box ar_kinect /camera/depth_registered/camera_info:=/camera/depth/camera_info /camera/depth_registered/points:=/camera/rgb/points