I am working on a project to align infrared and RGB images from an Intel RealSense D435i camera using ROS. My goal is to subscribe to the RGB and infrared image topics and publish the aligned infrared image to match the RGB image frame. However, I am facing an issue where the aligned images do not completely overlap.

I have to use infrared image and RGB image with the same camera frame. I subscribe those images from Intel RealSense depth camera D435i (/camera/color/image_raw for RGB image and /camera/infra1/image_rect_raw for infrared image).