{"action":"created","issue":{"url":"https://api.github.com/repos/intel-ros/realsense/issues/30","repository_url":"https://api.github.com/repos/intel-ros/realsense","labels_url":"https://api.github.com/repos/intel-ros/realsense/issues/30/labels{/name}","comments_url":"https://api.github.com/repos/intel-ros/realsense/issues/30/comments","events_url":"https://api.github.com/repos/intel-ros/realsense/issues/30/events","html_url":"https://github.com/intel-ros/realsense/issues/30","id":150071090,"number":30,"title":"Registered depth and color","user":{"login":"senia907","id":12409556,"avatar_url":"https://avatars.githubusercontent.com/u/12409556?v=3","gravatar_id":"","url":"https://api.github.com/users/senia907","html_url":"https://github.com/senia907","followers_url":"https://api.github.com/users/senia907/followers","following_url":"https://api.github.com/users/senia907/following{/other_user}","gists_url":"https://api.github.com/users/senia907/gists{/gist_id}","starred_url":"https://api.github.com/users/senia907/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/senia907/subscriptions","organizations_url":"https://api.github.com/users/senia907/orgs","repos_url":"https://api.github.com/users/senia907/repos","events_url":"https://api.github.com/users/senia907/events{/privacy}","received_events_url":"https://api.github.com/users/senia907/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/intel-ros/realsense/labels/question","name":"question","color":"cc317c"}],"state":"open","locked":false,"assignee":{"login":"reaganlo","id":12738189,"avatar_url":"https://avatars.githubusercontent.com/u/12738189?v=3","gravatar_id":"","url":"https://api.github.com/users/reaganlo","html_url":"https://github.com/reaganlo","followers_url":"https://api.github.com/users/reaganlo/followers","following_url":"https://api.github.com/users/reaganlo/following{/other_user}","gists_url":"https://api.github.com/users/reaganlo/gists{/gist_id}","starred_url":"https://api.github.com/users/reaganlo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/reaganlo/subscriptions","organizations_url":"https://api.github.com/users/reaganlo/orgs","repos_url":"https://api.github.com/users/reaganlo/repos","events_url":"https://api.github.com/users/reaganlo/events{/privacy}","received_events_url":"https://api.github.com/users/reaganlo/received_events","type":"User","site_admin":false},"milestone":null,"comments":5,"created_at":"2016-04-21T13:14:02Z","updated_at":"2016-05-15T12:52:37Z","closed_at":null,"body":"| Version          | Best Known           | Your Configuration   |\r\n|:---------------- |:---------------------|:---------------------|\r\n| Operating System | Ubuntu 14.04.4 LTS   | Ubuntu 14.04.4 LTS               |\r\n| Kernel           | 4.4.0-040400-generic | 4.4.0-040400-generic                |\r\n| ROS              | indigo               | indigo                    |\r\n| librealsense     | 0.9.1                | 0.9.1                |\r\n| R200 Firmware    | 1.0.72.06            | 1.0.72.06              |\r\n\r\n### Expected Behavior\r\nRegistered(matched) depth and color image at 640x480.\r\nI'm trying to use rtabmap(mapping package, not so relevant to the problem) in ros, and I want to get a color and a matching depth image at 640x480 resolution.\r\n\r\n### Actual Behavior\r\nUsing \"realsense_r200_nodelet_standalone_manual.launch\" (with color&depth width and height set to 640x480), and using the topics \r\n/camera/color/image_raw\r\n/camera/depth/image_raw\r\nI get the following results:\r\n![both](https://cloud.githubusercontent.com/assets/12409556/14709292/95b2c00c-07d8-11e6-9edd-fa6ec37713e7.png)\r\n![depth](https://cloud.githubusercontent.com/assets/12409556/14709291/95b10ec4-07d8-11e6-8299-6826d50e5f91.png)\r\n![color](https://cloud.githubusercontent.com/assets/12409556/14709293/95b4401c-07d8-11e6-9e47-e464b1113c17.png)\r\n\r\nwhere the color and depth doesn't match.\r\nUsing \"realsense_r200_rgbd.launch\", which should register(match?) the color&depth gives me a 480x360 resolution at \"/camera/depth/image_raw\". other topics didn't give me an input, or bad(480x360) resolution.\r\nOnly \"/camera/depth_registered/sw_registered/image_rect\" and \"#same#/image_rect_raw\" gave me results at the desired resolution(640x480) but at some wired format(not as \"/camera/depth/image_raw\")\r\n\r\ntrying to change the default resolution at [realsense_camera_nodelet.h](https://github.com/intel-ros/realsense/blob/indigo-devel/camera/src/realsense_camera_nodelet.h) resulted in a flickering(bad) depth image. Couldn't find other direction to try.\r\n\r\nI saw in the [limitation](https://github.com/intel-ros/realsense/tree/indigo-devel/camera#Limitations) section you mention that there isn't a hardware based registartion, but the software registration doesn't suite me either, is there a way to fix it? Or something else to try to get a matching depth and color image at 640x480.\r\n\r\n### Steps to Reproduce\r\nMentioned launch files and \"rosrun image_view image_view image:=#topic#\"\r\n"},"comment":{"url":"https://api.github.com/repos/intel-ros/realsense/issues/comments/219284146","html_url":"https://github.com/intel-ros/realsense/issues/30#issuecomment-219284146","issue_url":"https://api.github.com/repos/intel-ros/realsense/issues/30","id":219284146,"user":{"login":"senia907","id":12409556,"avatar_url":"https://avatars.githubusercontent.com/u/12409556?v=3","gravatar_id":"","url":"https://api.github.com/users/senia907","html_url":"https://github.com/senia907","followers_url":"https://api.github.com/users/senia907/followers","following_url":"https://api.github.com/users/senia907/following{/other_user}","gists_url":"https://api.github.com/users/senia907/gists{/gist_id}","starred_url":"https://api.github.com/users/senia907/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/senia907/subscriptions","organizations_url":"https://api.github.com/users/senia907/orgs","repos_url":"https://api.github.com/users/senia907/repos","events_url":"https://api.github.com/users/senia907/events{/privacy}","received_events_url":"https://api.github.com/users/senia907/received_events","type":"User","site_admin":false},"created_at":"2016-05-15T12:52:37Z","updated_at":"2016-05-15T12:52:37Z","body":"Hi,\r\nThanks for the replay, yet cpp-alignimage is just a view, and isn't capable of changing/moving one of the streams. All other example didn't seem useful too."}}