From f4c7dd88f6534ad922c29467817ac28f380310f0 Mon Sep 17 00:00:00 2001
From: Arun-Prasad-V <arunprasadv777@gmail.com>
Date: Tue, 13 Jun 2023 05:28:05 +0530
Subject: [PATCH] Applying AlignDepth filter after Pointcloud

---
 realsense2_camera/src/base_realsense_node.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
index 310bb25bd5..bf44d360b2 100755
--- 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)