# World aligned point cloud?
**URL:** https://forum.magicleap.cloud/t/world-aligned-point-cloud/6237
**Category:** Unity Development
**Tags:** pixel-sensor
**Created:** [August 21, 2025, 6:58pm UTC](https://forum.magicleap.cloud/t/world-aligned-point-cloud/6237 "2025-08-21T18:58:37Z")
**Posts on this page:** 5
**Page:** 1
### Author:  [@eric\_engineer](https://forum.magicleap.cloud/u/eric_engineer)
#### Post date: [August 21, 2025, 6:58pm UTC](https://forum.magicleap.cloud/t/world-aligned-point-cloud/6237/1 "2025-08-21T18:58:37Z")
I’ve been working on object detection with the depth and RGB camera and I’m pretty close. I have a small problem with rotational alignment being off and I tracked it back to the depth camera. I wasn’t thinking and I realize now that the point cloud I reconstruct from the depth camera is going to show my objects as tilted if my head is tilted. And further you can’t use pose of the headset / camera to fix this because it has no relation yet to the object. In otherwords the depth camera gives me a point cloud but it’s not a world aligned point cloud (by design). So my question is has anyone solved this issue already? Is there a smart way to get a world aligned point cloud with the ML before I go off on an adventure to try to solve this?
Thank you!
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### Author:  [@kbabilinski](https://forum.magicleap.cloud/u/kbabilinski)
#### Post date: [August 21, 2025, 10:57pm UTC](https://forum.magicleap.cloud/t/world-aligned-point-cloud/6237/2 "2025-08-21T22:57:57Z")
Did you make the change to the SDK that allows you to query a depth point at a specific sensor time?
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### Author:  [@eric\_engineer](https://forum.magicleap.cloud/u/eric_engineer)
#### Post date: [August 22, 2025, 1:10pm UTC](https://forum.magicleap.cloud/t/world-aligned-point-cloud/6237/3 "2025-08-22T13:10:23Z")
No? Sorry not sure what you mean here.
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### Author:  [@kbabilinski](https://forum.magicleap.cloud/u/kbabilinski)
#### Post date: [August 22, 2025, 8:45pm UTC](https://forum.magicleap.cloud/t/world-aligned-point-cloud/6237/4 "2025-08-22T20:45:40Z")
The change mentioned here : [Hologram Drift Issue When Tracking Object with Retroreflective Markers using Depth Camera (Raw data) - #8 by kbabilinski](https://forum.magicleap.cloud/t/hologram-drift-issue-when-tracking-object-with-retroreflective-markers-using-depth-camera-raw-data/5618/8)
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### Author:  [@eric\_engineer](https://forum.magicleap.cloud/u/eric_engineer)
#### Post date: [August 25, 2025, 2:25pm UTC](https://forum.magicleap.cloud/t/world-aligned-point-cloud/6237/5 "2025-08-25T14:25:14Z")
Ah while that’s good information to know for my next step it doesn’t address the point cloud being misaligned from the depth sensor. Which I know is natural for the raw depth sensor, I was just hoping there was already an alignment solution out there. Like aligning the depth sensor data to the mesh for example.