In the images below, a red block is placed on the edge of my desk, and as you can see, the edge of the red block is projected to the floor.
I suspect this is due to a misalignment in the color and depth images.
The images are obtained with factory-calibrated RealSense 435.
Re-calibrating the extrinsic parameters of the camera with the Dynamic Calibration Software provided by Intel did not fix the issue.
Is this an expected behavior? Is there a way to alleviate this problem?