Question about Eye-to-hand Scenario Usage

[zyaqcl]

Hi

I have a depth camera mounted on the base and an object mounted on the end effector of robot arm. After scanning, hand_T_cam was calculated and used as the pose and sent along the scan result for fusion. I thought I could get the result including a clear model of the object and a messy background. However, on the contrary, I got a clear background and a messy foreground. Why is that?

Thanks