Applying identical CameraInfo intrinsics in SDF <lens> changes point cloud

[AlessioLovato]

Environment

• OS Version: Ubuntu 24.04.3 LTS
• ROS 2 Jazzy
• Gazebo Sim, version 8.9.0
• gz-rendering8 8.2.3
• gz-sensors8 8.2.2

Description

• Expected behavior: Using custom lens intrinsic parameters (copied from the CameraInfo topic of the same sensor, with the same horizontal FOV) should not alter the generated depth map or point cloud.
• Actual behavior: Adding the <lens> property in the SDF of the depth camera sensor changes the pointcloud

Note: Adding the projection parameters of the lens does not change the exposed behavior.

Steps to reproduce

Simply add the lens and intrinsic parameters in the sdf. A minimal example to reproduce this can be found at: https://github.com/AlessioLovato/gz-sensors-pcl-bug

Output

The output of this test is shown below:

Horizontal FOV	Horizontal FOV + Lens intrinsics
<gazebo reference="${color_frame}"> <sensor name="${camera_name}_depth" type="depth"> <topic> ${camera_name}/aligned_depth_to_color/image_raw </topic> <gz_frame_id>${color_frame}</gz_frame_id> <camera name="${camera_name}_aligned_depth_camera"> <camera_info_topic> ${camera_name}/aligned_depth_to_color/camera_info </camera_info_topic> <optical_frame_id>${color_frame}</optical_frame_id> <horizontal_fov> ${2.0*atan(color_width/(2.0*color_fx))} </horizontal_fov> <image> <width>${color_width}</width> <height>${color_height}</height> </image> <clip> <near>${clip_distance_min}</near> <far>${clip_distance}</far> </clip> </camera> <always_on>1</always_on> <update_rate>${color_fps}</update_rate> <visualize>false</visualize> </sensor> </gazebo>	<gazebo reference="${color_frame}"> <sensor name="${camera_name}_depth_fake" type="depth"> <topic> ${camera_name}_fake/aligned_depth_to_color/image_raw </topic> <gz_frame_id>${color_frame}</gz_frame_id> <camera name="${camera_name}_aligned_depth_camera_fake"> <camera_info_topic> ${camera_name}_fake/aligned_depth_to_color/camera_info </camera_info_topic> <optical_frame_id>${color_frame}</optical_frame_id> <horizontal_fov> ${2.0*atan(color_width/(2.0*color_fx))} </horizontal_fov> <image> <width>${color_width}</width> <height>${color_height}</height> </image> <clip> <near>${clip_distance_min}</near> <far>${clip_distance}</far> </clip> <lens> <intrinsics> <fx>${color_fx}</fx> <fy>${color_fx}</fy> <cx>${color_width / 2.0}</cx> <cy>${color_height / 2.0}</cy> <s>0.0</s> </intrinsics> </lens> </camera> <always_on>1</always_on> <update_rate>${color_fps}</update_rate> <visualize>false</visualize> </sensor> </gazebo>
ros2 topic echo /box_camera/aligned_depth_to_color/camera_info header: stamp: sec: 5 nanosec: 215000000 frame_id: box_camera_color_frame height: 720 width: 1280 distortion_model: plumb_bob d: - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 k: - 909.7210083007814 - 0.0 - 640.0 - 0.0 - 909.7210083007811 - 360.0 - 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: - 909.7210083007814 - 0.0 - 640.0 - 0.0 - 0.0 - 909.7210083007811 - 360.0 - 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 ---	ros2 topic echo /box_camera_fake/aligned_depth_to_color/camera_info header: stamp: sec: 75 nanosec: 769000000 frame_id: box_camera_color_frame height: 720 width: 1280 distortion_model: plumb_bob d: - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 k: - 909.7210083007812 - 0.0 - 640.0 - 0.0 - 909.7210083007812 - 360.0 - 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: - 909.7210083007814 - 0.0 - 640.0 - -0.0 - 0.0 - 909.7210083007811 - 360.0 - 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 ---

The data in the published depth image do not appear to change instead.