In /examples/green_screen/main.cpp line 226,
Transformation tr_secondary_depth_to_main_color=tr_secondary_depth_to_secondary_color.compose_with(tr_secondary_color_to_main_color);

I think it should be,
tr_secondary_depth_to_main_color=tr_secondary_color_to_main_color.compose_with(tr_secondary_depth_to_secondary_color);.

Due to the perivious rotation also effects next translation, the order of matrix multiplication can`t changed here. If changed, it will cause some problem like #803 demonstrated.

In this green_screen example, point transformation to secondary color camera coordinate first, so it should multiply tr_secondary_depth_to_secondary_color first.