Cool, so hopefully you’re on your way. I’ve only skimmed some Cinder code in the past & am not a user myself, but am happy to look at some code if you run into any issues. Also make sure to enable the depth/color registration.
Also you may want to take a look at this thread. It seems there’s a “sweet spot” for where the depth/color images align, and it may appear with an offset if you’re too close or too far:
