Depth and RGB alignment on Structure Core



I am trying to get an aligned depth and RGB image from my Structure Core for further processing in openCV. After going through the forums and documentation I believe I have to use the depth and visible camera intrinsics and do it myself since the depth frame is aligned with the IR camera by default and not the color frame.

However, Im new to openCV and to this product as well. Is there any feature in the Structure SDK that
I`m overlooking that can directly get aligned RGB and depth frames? Is there really no way to get aligned frames from the camera directly?

If I have to do it myself, I believe I will have to use visibleCameraPoseInDepthCoordinateFrame() in order to align them. Can anyone teach me how to actually use it? I could`t find documentation regarding the Core and this alignment that I need to do.

Thank you.