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Thank you for your interest on Intel® RealSense™ Technology.
This is not so straightforward. The streams from each of the sensors can be mapped to each other by a complex process called Projection. You should be able to find some information in this link (search for the word "Projection"): https://github.com/IntelRealSense/librealsense/blob/165ae36b350ca950e4180dd6ca03ca6347bc6367/third-party/realsense-file/rosbag/msgs/sensor_msgs/CameraInfo.h.
This link contains projection information for the legacy RealSense cameras but will give you an idea of what is involved: https://github.com/IntelRealSense/librealsense/blob/legacy/doc/projection.md. We are working on getting better documentation that describes how projection works on the D400 series.
I hope you find this information useful.
Please do not hesitate to contact us again if you need further assistance.
Intel Customer Support