https://github.com/r9y9/pylibfreenect2/issues/25#issuecomment-251947223

test.py

from pylibfreenect2 import Freenect2, SyncMultiFrameListener
from pylibfreenect2 import FrameType, Registration, Frame
import sys
import numpy as np
import cv2

try:
    from pylibfreenect2 import OpenGLPacketPipeline
    pipeline = OpenGLPacketPipeline()
except:
    from pylibfreenect2 import CpuPacketPipeline
    pipeline = CpuPacketPipeline()


class Processor(object):

    def __init__(self):
        # self.pipeline = pipeline
        self.fn = Freenect2()
        num_devices = self.fn.enumerateDevices()

        if num_devices == 0:
            print("No device connected!")
            sys.exit(1)

        self.serial = self.fn.getDeviceSerialNumber(0)
        self.device = self.fn.openDevice(self.serial, pipeline=pipeline)
        self.listener = SyncMultiFrameListener(FrameType.Color | FrameType.Ir | FrameType.Depth)

        # Register listeners
        self.device.setColorFrameListener(self.listener)
        self.device.setIrAndDepthFrameListener(self.listener)
        self.device.start()

        self.registration = Registration(self.device.getIrCameraParams(),
                                         self.device.getColorCameraParams())
        self.undistorted = Frame(512, 424, 4)
        self.registered = Frame(512, 424, 4)

        # Optinal parameters for registration
        # set True if you need
        need_bigdepth = False
        need_color_depth_map = False

        self.bigdepth = Frame(1920, 1082, 4) if need_bigdepth else None
        self.color_depth_map = np.zeros((424, 512),  np.int32).ravel() \
            if need_color_depth_map else None

    def run(self):
        while True:
            if self.listener.hasNewFrame():
                frames = self.listener.waitForNewFrame()
                print(frames)
                color = frames["color"]
                ir = frames["ir"]
                depth = frames["depth"]
                self.registration.apply(color, depth, self.undistorted, self.registered,
                                        bigdepth=self.bigdepth,
                                        color_depth_map=self.color_depth_map)
                cv2.imshow("color", cv2.resize(color.asarray(),
                                               (int(1920 // 3), int(1080 // 3))))
                self.listener.release(frames)

                key = cv2.waitKey(delay=1)
                if key == ord('q'):
                    break

        self.device.stop()
        self.device.close()

p = Processor()
p.run()