PR #3049 from Arun-Prasad-V: Applying Colorizer filter to Aligned-Dep…

…th image
IntelRealSense · Mar 26, 2024 · b28dd00 · b28dd00
2 parents 5d617e5 + 2f78ad0
commit b28dd00
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
@@ -250,11 +250,14 @@ void BaseRealSenseNode::setupFilters()
     _pc_filter = std::make_shared<PointcloudFilter>(std::make_shared<rs2::pointcloud>(), _node, _parameters, _logger);
 #endif
 
-    _filters.push_back(_colorizer_filter);
+    // Apply PointCloud filter before applying Align-depth as it requires original depth image not aligned-depth image.
     _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);
+
+    // Apply Colorizer filter after applying Align-Depth to get colorized aligned depth image.
+    _filters.push_back(_colorizer_filter);
 }
 
 cv::Mat& BaseRealSenseNode::fix_depth_scale(const cv::Mat& from_image, cv::Mat& to_image)