I am not the expert around here when it comes to programming color and depth streams (I'm sure he'll contribute advice when he sees this), but for now, I will offer a couple of links in the hope that they can get you started.
* Intel staffer Rick Blacker wrote an article on simple RGB streaming, with an attached code sample.
* There is also a script that combines together RGB and depth streams into one. Whilst I know this is not your goal, you may be able to get some useful insights about precisely lining up two separate streams.
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