why RGB and depth Image synchronization not working? [Solved]

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why this works ? but not the bottom one?

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>

#include <iostream>
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <boost/foreach.hpp>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/io/pcd_io.h>

#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>


#include <sstream>
#include <string>


//names that will appear at the top of each window
static const std::string windowName = "Original Image";

using namespace std;
using namespace sensor_msgs;
using namespace message_filters;


void callback(const ImageConstPtr& image_rgb, const CameraInfoConstPtr& cam_info)
{
    // Solve all of perception here...

    cv::Mat image_color = cv_bridge::toCvCopy(image_rgb)->image;

    cv::imshow(windowName,image_color);

    cv::waitKey(3);

}




int main(int argc, char** argv)
 {
    ros::init(argc, argv, "vision_node");
    ros::NodeHandle nh;

    message_filters::Subscriber<Image> rgb_sub(nh,"/camera/rgb/image_color", 1);
    message_filters::Subscriber<CameraInfo> info_color_sub(nh,"/camera/rgb/camera_info", 1);

    TimeSynchronizer<Image, CameraInfo> sync(rgb_sub, info_color_sub, 10);
    sync.registerCallback(boost::bind(&callback, _1, _2));
    ros::spin();

    return 0;
}

In the upper code I'm able to see the RGB image . BUT

This is not giving any result. I'm trying to synchronize both the images and then separate then inside callback . then process the RGB image to find the object. I want ti find depth of particular pixel u,v . but this is not working when I'm trying to send both RGB and depth image.

void callback(const ImageConstPtr& image_rgb, const ImageConstPtr& image_depth_source)
{
    // Solve all of perception here...

    cv::Mat image_color = cv_bridge::toCvCopy(image_rgb)->image;
    cv::Mat image_depth = cv_bridge::toCvCopy(image_depth_source)->image;

    cv::imshow(windowName1,image_color);
    cv::imshow(windowName2,image_depth);

    cv::waitKey(3);

}


int main(int argc, char** argv) {
    ros::init(argc, argv, "vision_node");

    ros::NodeHandle nh;

    message_filters::Subscriber<Image> rgb_sub(nh,"/camera/rgb/image_color", 1);
    message_filters::Subscriber<Image> depth_sub(nh,"/camera/depth_registered/image_raw", 1);

    TimeSynchronizer<Image, Image> sync(rgb_sub, depth_sub, 10);
    sync.registerCallback(boost::bind(&callback, _1, _2));
    ros::spin();

    return 0;
}