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Homography holds for the following cases:

• planar scene
• general world but rotational motion (e.g. panorama)

If you want to align the left infrared image to the color image, you can:

• align the color image with the depth stream
• the left IR and the color images are now aligned since the left IR is aligned with the depth stream by design

Another possibility:

• compute the [uv] map that aligns the depth image to the color image
• apply the [uv] map to the left IR image