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I have used depth_image_proc/register for combining thermal image with a realsense camera. As the wiki says, this nodelet publishes a registered depth image. Which was then subscribed in depth_image_proc/point_cloud_xyzrgb nodelet to get the corresponding point cloud.

I would say you are on the right direction. Please look at the type of depth image obtained from yout 3D camera ( As there are two representations. please refer: https://www.ros.org/reps/rep-0118.html to know what kind of depth image you have). The hard part was to get the right TF transformation between the two cameras for me. I could not get a proper registered depth image as I could see that clearly in the point cloud.

I hope this helped you in some way. Good Luck!