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depth_registered

How can I get depth_registered from the Kinect and what topic should I use ?

and It is the same imageCallback as depth (/camera/depth/image)?

void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{

    cv_bridge::CvImagePtr cv_ptr;

    try
    {
        cv_ptr = cv_bridge::toCvCopy(msg1, sensor_msgs::image_encodings::TYPE_32FC1);
    }

    catch (cv_bridge::Exception& e)
    {
        ROS_ERROR("cv_bridge exception: %s", e.what());
        return;
    }


    cv::imshow("OpenCV viewer Kinect ", cv_ptr->image);

    cvWaitKey(3);

}

I tried this ones:

/camera/depth_registered/points

/camera/depth_registered/image_raw

but I didn't get any resulat. so what should I do ?