Unable to get Aligned Point cloud even when Aligned depth is enabled.

[minku1219]

Hi, I am working on a pose estimation pipeline and it requires a Ordered Pointcloud aligned with rgb.
While using realsense d435 and d455 i have observed that when enabling the ordered_pc flag to true it gives point cloud that is not aligned to rgb.
I have attached a screenshot which mentions that when using aligned depth you will get the pointcloud in fram of aligned depth. But mine is shifted.

Any help is appreciated @RealSenseSupport

[MartyG-RealSense]

Hi @minku1219 Is a depth-color aligned pointcloud generated correctly with ordered_pc = true if you do not use align_depth:=true? RGB should be mapped to a depth pointcloud when RGB is enabled and the pointcloud filter is used.

ros2 launch realsense2_camera rs_launch.py depth_module.profile:=1280x720x30 rgb_camera.profile:=1280x720x30 pointcloud.enable:=true pointcloud.ordered_pc:=true

[adamwhats]

Looks like this the same issue as #2595?

[MartyG-RealSense]

@adamwhats The case of @minku1219 does look similar to #2595 though the RealSense ROS developer team created a fix for the alignment issue in that case - see #2775

However, the RealSense user in that case did not provide feedback about whether the fix had resolved their issue.

[MartyG-RealSense]

Hi @minku1219 Do you have an update about this case that you can provide, please? Thanks!

[MartyG-RealSense]

Hi @minku1219 and @adamwhats Do either of you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.