align depth camera config to rgb camera in sim envs

Author: ruziniuuuuu

src/synthnova_config/src/synthnova_config/sensor/realsense_d405.py

@@ -76,25 +76,16 @@ class RealsenseD405DepthSensor1280x720Config(DepthSensorConfig):
     """
     Configuration class for the RealSense D405 Depth camera(1280x720).
 
-    Intrinsics of "Depth" / 1280x720 / {Z16}:
-      - Width:         1280
-      - Height:        720
-      - PPX:          636.7132568359375
-      - PPY:          358.99658203125
-      - Fx:           649.6893310546875
-      - Fy:           649.6893310546875
-      - Distortion:   Brown Conrady (using plumb_bob model)
-      - Coeffs:       [0.0, 0.0, 0.0, 0.0, 0.0]
-      - FOV (deg):    75 x 47.6
+    Intrinsics aligned with RGB sensor for simulation consistency.
     """
 
     frequency: int = 30
     width: int = 1280
     height: int = 720
-    fx: float = 649.6893310546875
-    fy: float = 649.6893310546875
-    cx: float = 636.7132568359375
-    cy: float = 358.99658203125
+    fx: float = 649.24755859375
+    fy: float = 648.3587036132812
+    cx: float = 639.14599609375
+    cy: float = 355.1600341796875
     pixel_size: float = 0.003
     f_stop: float = 0.0
     focus_distance: float = 0.0
@@ -162,25 +153,16 @@ class RealsenseD405DepthSensor640x360Config(DepthSensorConfig):
     """
     Configuration class for the RealSense D405 Depth camera(640x360).
 
-    Intrinsics of "Depth" / 640x360 / {Z16}:
-      - Width:         640
-      - Height:        360
-      - PPX:          319.72
-      - PPY:          188.20
-      - Fx:           443.18
-      - Fy:           443.18
-      - Distortion:   Brown Conrady (using plumb_bob model)
-      - Coeffs:       [0.0, 0.0, 0.0, 0.0, 0.0]
-      - FOV (deg):    75 x 47.6
+    Intrinsics aligned with RGB sensor for simulation consistency.
     """
 
     frequency: int = 30
     width: int = 640
     height: int = 360
-    fx: float = 443.18
-    fy: float = 443.18
-    cx: float = 319.72
-    cy: float = 188.20
+    fx: float = 326.60852933950645
+    fy: float = 326.51969070689336
+    cx: float = 320.10334232983035
+    cy: float = 180.82591009857398
     pixel_size: float = 0.003
     f_stop: float = 0.0
     focus_distance: float = 0.0

src/synthnova_config/src/synthnova_config/sensor/realsense_d415.py

@@ -70,25 +70,16 @@ class RealsenseD415DepthSensorConfig(DepthSensorConfig):
     """
     Configuration class for the RealSense D415 Depth camera.
 
-    Intrinsics of "Depth" / 1280x720 / {Z16}:
-      - Width:         1280
-      - Height:        720
-      - PPX:          631.942749023438
-      - PPY:          363.001342773438
-      - Fx:           890.299133300781
-      - Fy:           890.299133300781
-      - Distortion:   Brown Conrady (using plumb_bob model)
-      - Coeffs:       [0.0, 0.0, 0.0, 0.0, 0.0]
-      - FOV (deg):    71.42 x 44.03
+    Intrinsics aligned with RGB sensor for simulation consistency.
     """
 
     frequency: int = 60
     width: int = 1280
     height: int = 720
-    fx: float = 890.299133300781
-    fy: float = 890.299133300781
-    cx: float = 631.942749023438
-    cy: float = 363.001342773438
+    fx: float = 912.569580078125
+    fy: float = 909.815246582031
+    cx: float = 629.409301757812
+    cy: float = 366.805267333984
     pixel_size: float = 0.003
     f_stop: float = 0.0
     focus_distance: float = 0.0

src/synthnova_config/src/synthnova_config/sensor/realsense_d435.py

@@ -69,25 +69,16 @@ class RealsenseD435DepthSensorConfig(DepthSensorConfig):
     """
     Configuration class for the RealSense D435 Depth camera.
 
-    Intrinsics of "Depth" / 1280x720 / {Z16}:
-      - Width:         1280
-      - Height:        720
-      - PPX:          647.503784179688
-      - PPY:          354.537139892578
-      - Fx:           655.93505859375
-      - Fy:           655.93505859375
-      - Distortion:   Brown Conrady (using plumb_bob model)
-      - Coeffs:       [0.0, 0.0, 0.0, 0.0, 0.0]
-      - FOV (deg):    88.59 x 57.52
+    Intrinsics aligned with RGB sensor for simulation consistency.
     """
 
-    frequency: int = 60  # Standard frame rate for D435
+    frequency: int = 60
     width: int = 1280
     height: int = 720
-    fx: float = 655.93505859375
-    fy: float = 655.93505859375
-    cx: float = 647.503784179688
-    cy: float = 354.537139892578
+    fx: float = 910.542541503906
+    fy: float = 910.544921875
+    cx: float = 634.326416015625
+    cy: float = 370.207214355469
     pixel_size: float = 0.003
     f_stop: float = 0.0
     focus_distance: float = 0.0