Kinect Depth and Image Frames Alignment

I am playing around with new Kinect SDK v1.0.3.190. (other related questions in stackoverflow are on previous sdk of kinect) I get depth and color streams from Kinect. As the depth and RGB streams are captured with different sensors there is a misalignment between two frames as can be seen below.

Only RGB

Only Depth

Depth & RGB

I need to align them and there is a function named MapDepthToColorImagePoint exactly for this purpose. However it doesn't seem to work. here is a equally blended (depth and mapped color) result below which is created with the following code

            Parallel.For(0, this.depthFrameData.Length, i =>
        {
            int depthVal = this.depthFrameData[i] >> 3;
            ColorImagePoint point = this.kinectSensor.MapDepthToColorImagePoint(DepthImageFormat.Resolution640x480Fps30, i / 640, i % 640, (short)depthVal, ColorImageFormat.RgbResolution640x480Fps30);
            int baseIndex = Math.Max(0, Math.Min(this.videoBitmapData.Length - 4, (point.Y * 640 + point.X) * 4));

            this.mappedBitmapData[baseIndex] = (byte)((this.videoBitmapData[baseIndex]));
            this.mappedBitmapData[baseIndex + 1] = (byte)((this.videoBitmapData[baseIndex + 1]));
            this.mappedBitmapData[baseIndex + 2] = (byte)((this.videoBitmapData[baseIndex + 2]));
        });

where

depthFrameData -> raw depth data (short array)

videoBitmapData -> raw image data (byte array)

mappedBitmapData -> expected result data (byte array)

order of the parameters, resolution, array sizes are correct (double checked).

The result of the code is:

The m