I also experience the same depth-rgb missmatch.
I'm unsure if it's appropriate to reply to this post, When I run the example code above I'm face the same issue as RyanLee regarding the depth-RGB alignment mismatch.
In my case I'm using an OAK-D Pro Wide with the IMX378 sensor, which has a 12MP resolution as opposed to 800P resolution on the OV972. Could this resolution difference be the cause of the misalignment between the depth and RGB images?
If not, could you please guide me on the camera resolution settings that would enable pixel-wise alignment between the depth and RGB images?
Thank you for your assistance.