Point cloud modified when depth frame aligned

[descamps2]

Required Info
Camera Model	D415
Operating System & Version	Ubuntu 18
Platform	PC
SDK Version	2.23
Language	C++

Issue Description

The point cloud calculated from the depth map, using the rs2::pointcloud class, is different when the depth frame is aligned to the color frame (using rs2::align). The points are shifted in x and y by a non constant value. z values remain the same.
Is this expected behavior? What is the cause of this difference?

[ev-mp]

@descamps2 , that's correct.
The rs2::pointcloud 's origin coordinate (x,y,z=0,0,0) is defined as the position of the left IR sensor, while the origin of the pointcloud produced from "Depth aligned to color" is the position of the RGB sensor.
Additionally , in the process of alignment the reprojected depth values are clamped to the RGB grid (aliasing), which adds up to the bias.

[descamps2]

Ok, thanks for the clarification!