Gemini336L registered depth and rgb optics difference doubt

[bmegli]

General

With latest master b49127f and Gemini336L

Using default 330 launchfile

• https://github.com/orbbec/OrbbecSDK_ROS1/blob/main/launch/gemini_330_series.launch#L3
  • this has depth_registration enabled

The depth and rgb streams have same optics and frame id apart from depth not having distortion model filled

Is this expected?
Is it expected to be registered pixel depth/rgb pixel matching? Then probably distortion model should be same?

Details

Color

rostopic echo /camera/color/camera_info

Note the non zero D vector

---
header: 
  seq: 2829
  stamp: 
    secs: 1732191417
    nsecs: 361662976
  frame_id: "camera_color_optical_frame"
height: 720
width: 1280
distortion_model: "rational_polynomial"
D: [-0.028814153745770454, 0.03532102331519127, -1.001535292743938e-05, 0.00015095286653377116, -0.012671997770667076, 0.0, 0.0, 0.0]
K: [609.2261962890625, 0.0, 639.4421997070312, 0.0, 609.4541015625, 356.2088928222656, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [609.2261962890625, 0.0, 639.4421997070312, 0.0, 0.0, 609.4541015625, 356.2088928222656, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False
---

Depth

rostopic echo /camera/depth/camera_info

Note the 0 D vector

header: 
  seq: 2091
  stamp: 
    secs: 1732191538
    nsecs: 309224960
  frame_id: "camera_color_optical_frame"
height: 720
width: 1280
distortion_model: "rational_polynomial"
D: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
K: [609.2261962890625, 0.0, 639.4421997070312, 0.0, 609.4541015625, 356.2088928222656, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [609.2261962890625, 0.0, 639.4421997070312, 0.0, 0.0, 609.4541015625, 356.2088928222656, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False
---