realsense对齐彩色图像和深度图像

首先声明realsense通道，封装实际设备和传感器

	
        //初始化
	pipeline pipe;

	pipeline_profile profile = pipe.start();

	rs2_stream align_to = find_stream_to_align(profile.get_streams());

	rs2::align align(align_to);

 find_stream_to_align函数：

rs2_stream find_stream_to_align(const std::vector<rs2::stream_profile>& streams)
{
	//Given a vector of streams, we try to find a depth stream and another stream to align depth with.
	//We prioritize color streams to make the view look better.
	//If color is not available, we take another stream that (other than depth)
	rs2_stream align_to = RS2_STREAM_ANY;
	bool depth_stream_found = false;
	bool color_stream_found = false;
	for (rs2::stream_profile sp : streams)
	{
		rs2_stream profile_stream = sp.stream_type();
		if (profile_stream != RS2_STREAM_DEPTH)
		{
			if (!color_stream_found)         //Prefer color
				align_to = profile_