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I don't know what kind of processing you're doing, but you might look into the pcl library. The kinect also publishes some point cloud topics, some of which I think have the spatial information and the color for each point grouped together.

You can look at them in rviz. Just add a pointcloud2 and subscribe to one of the topics (say, /camera/rgb/points). Displaying them as points with Color Transformer RGB8 shows you the color info too.