Google Tango: Aligning Depth and Color Frames

Question

I would like to align a (synchronous) depth/color frame pair, using the Google Tango tablet, such that, assuming that both frames have the same resolution, each pixel in the

Answer 1

One of your conditions is not possible - there is no guarantee that tango will hand you a point cloud measurement of something in the visual field if it has trouble seeing it - also there isn't a 1:1 correspondence between pixels and depth frame as the depth info is 3D