Yes. Before the standard Vzense RGB-D camera leaves the factory, the internal and external parameters have been calibrated. The output RGB image and the depth image have been aligned on the camera's internal processor. At the same time, the interface for users to align themselves has been opened. After the user gets the camera, he can view the alignment effect between RGB and depth map through the GUI. There are two alignment effects for viewing: RGB pixel points correspond to depth image pixel points, and depth image pixel points correspond to RGB pixel points.