how can i output the RGB data and depth(x,y,z) to files?

how can i output the RGB data and depth(x,y,z) to files?

Now I work on perceptual computing SDK . The aim is to get the RGB data and depth data(x, y, z) of every frame  and save them to files. in other meaning, when I get a image, I need their RGB data and depth data. but image and depth resolution are not the same, I don't know how to get the depth of every pixel. For example, the raw-stream example can output 640*480 image, but the depth can output 320*240 image, How can I get the depth data(x, y, z) of every pixel of image? I don't know which SDK function can do this.

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Dear David,

     Could you help comment on this? I am a new programmer.

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