Kinect Color and Kinect Depth streams - a way to match them well?

Hey gang!

Super simple on the surface, vexing in reality.

Trying to take the live kinect color image and then use the depth mask to cut/mask the image. (Just like a tv chroma key)

Works great, except for the giant border around the user, I am assuming this is due to the infra-red and color cams having different focal lengths/angles/offset.

Have been able to correct SOME but is still not very good. Particularly when dealing with closer/farther distance from the Kinect.

( BTW NI-mate seems to have the "trick" down to get the two streams to line up just super-sexy-right) I use this alot and it works very nice.

Has anybody figured out a QC-only way to do this and get the two streams tight?

thanks jd