1. A method of co-processing a video frame comprising multiple pixels having respective color values as pixel property values of a camera view and a depth map comprising multiple pixels having respective depth values as pixel property values of said camera view, said method comprising: detecting at least one edge in said video frame based on respective color values of at least a portion of said multiple pixels in said video frame; detecting at least one edge in said depth map based on respective depth values of at least a portion of said multiple pixels in said depth map; aligning said at least one edge in said video frame and said at least one edge in said depth map; and identifying at least one pixel in said video frame or said depth map having an incorrect pixel property value based on a position of said at least one pixel in said video frame or said depth map relative to an edge in said video frame or said depth map and the corresponding aligned edge in the other of said video frame and said depth map.