When testing an application running on the OAK4D, I noticed that the depth and rgb stream is not alligned. I used the node ImageAlign node to map the depthmap to the rgb stream. When checking out the pointcloud I noticed that the rgb colors on the points seem shifted.
To check that the problem lies in the implementation I used the oak viewer with the command oakctl viewer
When going through the preset stereodepth, neural depth and neural assisted depth I noticed the same shift. See image below:
The image shows an elevated board with aruco markers
When going through the different options for depth estimation the rgb data seems shifted:
What can be the reason for this shift?
OAK4D-W R9
Luxonis OS 1.31.2
Custom app depthai 3.6.1
Oak viewer 3.2.1
