Hi Mulong ,
So we implemented an initial on-device mapping of RGB and depth.
We did this using LR-check, and then re-centering the depth so that it is positioned at the center of the RGB camera. See below:
So the middle image is the alignment so that the depth is centered via the RGB camera. So the next step is to implement the WARP so that the depth will fit directly onto the RGB (and vice-versa).
So we should have that out relatively quickly.