RGB-TOF Alignment - left right shadow

KNSK

I am testing the OAK-D SR POE

From the RGB-TOF Align example and as well as my own tests:
there seems to be a "black shadow" to the left of depth_aligned output pixels (clearly seen to the left of person and chair in the RGB-ToF align sample pictures). This "black shadow" is not present when running TOF by itself.

I've also tested the alignment in the reverse direction. Meaning aligning RGB to TOF. The "black shadow" also exists but in the reverse. Meaning that the TOF output is shifted to the left of RGB output.

What is causing this? Is this intended?

My end goal is to capture same image of RGB, TOF, and RGB-TOF Blend that are cropped to the correct size to where the pixels can show both RGB and TOF. Currently, the RGB-TOF align leaves black space and or has extra RGB data that has no TOF data. While trying to figure this out, I came across this "black shadow".

erik

@KNSK yes it's expected, as both camera sensors (cam / tof) are a few cm apart, one will see something while other won't. Objects that are close are more affected by this, while objects that are far won't be, as both cameras see more or less the same thing.