diff --git a/depth_image_proc/src/point_cloud_xyzrgb.cpp b/depth_image_proc/src/point_cloud_xyzrgb.cpp
index 34111843d..013c3ac49 100644
--- a/depth_image_proc/src/point_cloud_xyzrgb.cpp
+++ b/depth_image_proc/src/point_cloud_xyzrgb.cpp
@@ -267,6 +267,10 @@ void PointCloudXyzrgbNode::imageCb(
     convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
   } else if (rgb_msg->encoding == sensor_msgs::image_encodings::BGR8) {
     convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
+  } else if (rgb_msg->encoding == sensor_msgs::image_encodings::BGRA8) {
+    convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
+  } else if (rgb_msg->encoding == sensor_msgs::image_encodings::RGBA8) {
+    convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
   } else if (rgb_msg->encoding == sensor_msgs::image_encodings::MONO8) {
     convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
   } else {
diff --git a/depth_image_proc/src/point_cloud_xyzrgb_radial.cpp b/depth_image_proc/src/point_cloud_xyzrgb_radial.cpp
index 5b172ba53..04d780dd5 100644
--- a/depth_image_proc/src/point_cloud_xyzrgb_radial.cpp
+++ b/depth_image_proc/src/point_cloud_xyzrgb_radial.cpp
@@ -265,6 +265,10 @@ void PointCloudXyzrgbRadialNode::imageCb(
     convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
   } else if (rgb_msg->encoding == sensor_msgs::image_encodings::BGR8) {
     convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
+  } else if (rgb_msg->encoding == sensor_msgs::image_encodings::BGRA8) {
+    convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
+  } else if (rgb_msg->encoding == sensor_msgs::image_encodings::RGBA8) {
+    convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
   } else if (rgb_msg->encoding == sensor_msgs::image_encodings::MONO8) {
     convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
   } else {