PR #2775 from Arun-Prasad-V: Applying AlignDepth filter after Pointcloud

IntelRealSense · Jun 27, 2023 · bb71653 · bb71653
2 parents aecccac + f4c7dd8
commit bb71653
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
@@ -195,14 +195,15 @@ void BaseRealSenseNode::setupFilters()
         }
         _cv_mpc.notify_one();
     };
-    _align_depth_filter = std::make_shared<AlignDepthFilter>(std::make_shared<rs2::align>(RS2_STREAM_COLOR), update_align_depth_func, _parameters, _logger);
-    _filters.push_back(_align_depth_filter);
 
     _colorizer_filter = std::make_shared<NamedFilter>(std::make_shared<rs2::colorizer>(), _parameters, _logger); 
     _filters.push_back(_colorizer_filter);
 
     _pc_filter = std::make_shared<PointcloudFilter>(std::make_shared<rs2::pointcloud>(), _node, _parameters, _logger);
     _filters.push_back(_pc_filter);
+
+    _align_depth_filter = std::make_shared<AlignDepthFilter>(std::make_shared<rs2::align>(RS2_STREAM_COLOR), update_align_depth_func, _parameters, _logger);
+    _filters.push_back(_align_depth_filter);
 }
 
 cv::Mat& BaseRealSenseNode::fix_depth_scale(const cv::Mat& from_image, cv::Mat& to_image)