I am using the RealSense D435i for video streaming, and I want to capture both the color and depth streams simultaneously. I’m using the align_to_depth function to align the data. The resolution for both streams is set to 640×480. However, I’ve encountered an issue where the output of the align_to_depth function does not behave as expected. Although the output image maintains the 640×480 resolution, the aligned image appears only in the center, at approximately half the original size, with black borders around it. Interestingly, when I run the same program using the D456, it works correctly and displays the full image as expected. I have tried multiple times with the D435i, but I continue to get the same result. Could you please provide some advice or possible solutions for this issue?
