How can I make the registration image retain background color pixels?

[buaazsj]

I want to map RGB pixels to depth data.
I tried to align all the rgb pixels into the depth map, comment out the lines of code in registered.cpp, and keep these backgrounds, but the actual effect is still only the foreground of the depth map, and the background still has no data. Why is there no effect?

[floe]

I don't quite understand what the problem is. Can you post an image?