# RBG and Depth frame pose difference increasing with the distance from Origin?

**URL:** https://forum.magicleap.cloud/t/rbg-and-depth-frame-pose-difference-increasing-with-the-distance-from-origin/6479
**Category:** Unity Development
**Tags:** openxr
**Created:** [October 21, 2025, 2:25pm UTC](https://forum.magicleap.cloud/t/rbg-and-depth-frame-pose-difference-increasing-with-the-distance-from-origin/6479 "2025-10-21T14:25:44Z")
**Posts on this page:** 1
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### Author: ![kocsisa](https://avatars.discourse-cdn.com/v4/letter/k/ccd318/32.png) [@kocsisa](https://forum.magicleap.cloud/u/kocsisa)
#### Post date: [November 10, 2025, 8:17am UTC](https://forum.magicleap.cloud/t/rbg-and-depth-frame-pose-difference-increasing-with-the-distance-from-origin/6479/7 "2025-11-10T08:17:57Z")

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The origin (0,0,0) is set when the device is turned on.  
We capture RGB and Depth frames too.

We expect that: if we capture RGB and Depth frames at the same moment than the pose we get for the RGB frame should be very close to the pose we get for the Depth frame.

Based on our measures. It seems that, the difference (error) between the RGB pose and the closest Dept frame pose correlates with the distance from the origin.

So if we are close to the origin, thant the difference is small,  
but if we move 1 meter avay from the origin, than the error is 40-50 mm on at least one direction (x,y, or z) (this comaprision does not include the orientation differences, but it is importatnt too)  
It is almost the same if the device is still or moving at the moment of capturing.

When we go back near to the origin, than the error is samll again.

When getting the pose we pass the sensorId , and the captureTime  
pose = pixelSensorFeature.GetSensorPose(sensorId, frame.CaptureTime)  
the method we call is modified , based on your sample code in

> [@Hologram Drift Issue When Tracking Object with Retroreflective Markers using Depth Camera (Raw data)](https://forum.magicleap.cloud/t/hologram-drift-issue-when-tracking-object-with-retroreflective-markers-using-depth-camera-raw-data/5618/8):
>
> Sorry to hear that you are running into this issue. The team is out of office today but you could look into making a minor change in the SDK itself and see if it resolves your issue. Possibly by modifying a function in the SDK to allow for an additional property to be passed into the Get Pose function. (Note we have not tested this workaround yet) Move the Magic Leap Unity SDK into your project’s packages directory. Make sure the Magic Leap Unity Package is imported into your project as a folde…

```
public Pose GetSensorPose(PixelSensorId sensorType, long captureTime, Pose offset = default)

```

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