mismatch in pointcloud2 color and depth data [closed]

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I am using a ROS fuerte with Ubuntu 12.04

I am capturing the registered colored point cloud.In the captured pcd file, depth data is coming great but color is of the complete point cloud is shifted downwards by some distance. Therefore top part of any object contains background color and some part of the object color overlaps on the floor surface, in case the object is kept on the floor.

I first ran roslauch openni_launch openni.launch and then I observed the topic /camera/depth_registered/points in rviz to view the live stream. The same error is still there.

Am I using the incorrect topic ? May be some frame transformation is going wrong.. I am not able to figure out the error. Please Help !

Thank you