This solution uses the same sensor for the depth and RGB, which is a win. When you use separate depth and RGB sensor like most smartphones the images do not al

This solution uses the same sensor for the depth and RGB, which is a win. When you use separate depth and RGB sensor like most smartphones the images do not align exactly which causes problems at close range. You also get weird artifacts when the depth sensor saturates but the RGB does not. I think this design will require a lot more cpu for post processing though.